WO2018173539A1 - Diagnostic system - Google Patents

Diagnostic system Download PDF

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Publication number
WO2018173539A1
WO2018173539A1 PCT/JP2018/004541 JP2018004541W WO2018173539A1 WO 2018173539 A1 WO2018173539 A1 WO 2018173539A1 JP 2018004541 W JP2018004541 W JP 2018004541W WO 2018173539 A1 WO2018173539 A1 WO 2018173539A1
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Prior art keywords
motor drive
characteristic
drive system
command
electric motor
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PCT/JP2018/004541
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French (fr)
Japanese (ja)
Inventor
田澤　徹
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パナソニックＩｐマネジメント株式会社
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Publication of WO2018173539A1 publication Critical patent/WO2018173539A1/en

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  • the present invention relates to a diagnostic system for a device having a mechanism driven by an electric motor.
  • the present invention particularly relates to diagnosis of a maintenance time of an electric motor drive system including an electric motor, a controller for driving the electric motor, and a mechanism driven by the electric motor.
  • the operation rate of the device to be diagnosed is reduced by performing the diagnosis.
  • An object of this invention is to provide the diagnostic system which can diagnose the apparatus, without reducing the operation rate of the apparatus used as a diagnosis object.
  • a diagnostic system is a diagnostic system for an apparatus having an electric motor drive system, and includes an operation command to the electric motor drive system, a work period during which the apparatus is performing a predetermined operation, and an operation period.
  • a command analysis unit for determining an addition period in which a characteristic measurement signal for measuring the characteristics of the motor drive system is added to a command in the motor drive system during the non-work period.
  • the characteristic measurement signal is added to the command in the motor drive system and the motor in the motor drive system is driven based on the command after the addition, and the operation of the motor drive system in the addition period
  • Response information related to the state is acquired, and based on the response information, an apparatus characteristic analysis unit that calculates one or more characteristic values in the addition period of the motor drive system, and characteristic values are preset based on the characteristic values. It estimates the time until the threshold, and an analysis result output unit for outputting the estimated time as a maintenance time of the device.
  • the diagnosis system makes it possible to diagnose a device without reducing the operating rate of the device to be diagnosed.
  • FIG. 7 is a block diagram showing an example of a conventional diagnostic system.
  • the conventional diagnosis system includes an external display device 101 (for example, a personal computer), an electric motor 103, an amplifier 102 that drives the electric motor 103, and a load machine 104 (for example, one shaft) that is driven by the electric motor 103. Slider).
  • a command such as a speed trapezoidal wave command is created and transferred to the amplifier 102.
  • the load machine 104 is driven by supplying electric power from the amplifier 102 to the electric motor 103 based on this command and causing the electric motor 103 to operate (rotate). Operation information (motor rotation position, motor rotation speed, motor torque command) of the motor 103 at this time is transferred from the amplifier 102 to the external display device 101.
  • FIG. 8 is a schematic diagram showing an example of characteristics obtained by a conventional diagnostic system.
  • T A ⁇ v + B (Formula 1)
  • T represents the motor torque command
  • v represents the motor rotation speed
  • A represents the viscous friction coefficient
  • B represents the static friction coefficient.
  • FIG. 9 is a schematic diagram showing an example of a change in characteristics obtained with a conventional diagnostic system.
  • the solid line represents the initial friction characteristic
  • the broken line represents the friction characteristic after two years of use. It can be confirmed that the friction characteristics have changed with the lapse of years of use. By confirming the change in the friction characteristics, it is possible to diagnose whether it is time for maintenance such as replacement of grease of the load machine and wear check of machine parts.
  • the inventor has found that the following problems occur in the conventional diagnostic system.
  • the conventional technology requires a separate diagnostic operation. For example, in order to obtain the friction characteristic, a special operation of moving the electric motor with a plurality of speed trapezoidal wave patterns and acquiring the electric motor rotation speed and the electric motor torque command is necessary. In order to perform this operation, the production line including the apparatus is temporarily stopped. Therefore, productivity is reduced. In addition, when this operation is performed, an initialization operation for returning to the normal operation is newly required. For this reason, the operation rate of an apparatus will fall.
  • the maintenance time such as whether or not the wear of the machine parts should be checked is diagnosed from the change of the friction characteristic obtained from the diagnostic operation.
  • the judgment criterion is set to a slight change, the maintenance becomes frequent and the operation rate of the apparatus decreases.
  • the judgment criterion is set to a large change, there is a possibility that the maintenance will be delayed, and the apparatus may be brought to an emergency stop due to abnormal operation such as oscillation of the electric motor drive system. In this case, it is necessary to quickly recover, but if a machine part to be replaced is not prepared, it takes time to recover.
  • an appropriate criterion should be set, but the friction characteristics when abnormal operation occurs vary depending on the installation environment and the like, so it is necessary to allow some margin. Therefore, there is room for improvement in order to accurately diagnose the maintenance time.
  • the inventors have obtained a diagnostic system according to one aspect of the present invention in order to improve the above-described points.
  • a diagnostic system is a diagnostic system for an apparatus having an electric motor drive system, and includes an operation command to the electric motor drive system, a work period during which the apparatus is performing a predetermined operation, and an operation period.
  • a command analysis unit for determining an addition period in which a characteristic measurement signal for measuring the characteristics of the motor drive system is added to a command in the motor drive system during the non-work period.
  • the characteristic measurement signal is added to the command in the motor drive system and the motor in the motor drive system is driven based on the command after the addition, and the operation of the motor drive system in the addition period
  • Response information related to the state is acquired, and based on the response information, an apparatus characteristic analysis unit that calculates one or more characteristic values in the addition period of the motor drive system, and characteristic values are preset based on the characteristic values. It estimates the time until the threshold, and an analysis result output unit for outputting the estimated time as a maintenance time of the device.
  • the diagnostic system is configured to calculate the characteristic value of the motor drive system based on response information related to the operating state of the motor drive system in a non-working period that is a period other than a period during which the device to be diagnosed performs a predetermined operation. Estimate time change.
  • the device can be diagnosed without reducing the operating rate of the device to be diagnosed.
  • the characteristic values are the phase margin of the open loop frequency characteristic of the feedback control system in the motor drive system, the gain margin of the open loop frequency characteristic of the feedback control system in the motor drive system, and the closed loop of the feedback control system in the motor drive system. It may be any one of the peak gains of the frequency characteristics.
  • the device characteristic analysis unit calculates two or more characteristic values
  • the analysis result output unit calculates each of the characteristic values based on each time change estimated by the device characteristic analysis unit at the output of the maintenance period.
  • the time until reaching each of the preset threshold values may be estimated, and the shortest time among the estimated times may be output as the maintenance time of the apparatus.
  • the two or more characteristic values are one or more phase margins of the open loop frequency characteristics of the feedback control system in the motor drive system, and one or more of the open loop frequency characteristics of the feedback control system in the motor drive system.
  • the gain margin may include at least two of one or more peak gains of the closed loop frequency characteristic of the feedback control system in the motor drive system.
  • command analysis unit may determine the addition period from the period in which the acceleration of the motor drive system is substantially zero among the operation commands divided into the non-work periods.
  • the command analysis unit may determine the addition period from among the operation commands classified into the non-working period, from a period in which the speed of the motor drive system is not 0 for a predetermined time or more.
  • FIG. 1 is a block diagram showing a configuration of a diagnostic system 100 in the embodiment.
  • a diagnosis system 100 for an apparatus having an electric motor drive system includes an upper part 1, an electric motor 3, an amplifier 2, a rotational position detector 4, and a load machine 5.
  • the host unit 1 generates an operation command and estimates a maintenance time described later.
  • the amplifier 2 drives and controls the electric motor 3.
  • the rotational position detector 4 detects the rotational position of the electric motor 3.
  • the load machine 5 is driven by the electric motor 3.
  • Diagnostic system 100 further includes a power line 6, a rotational position detection line 7, a command line 8, a measurement signal line 9, and a motor information line 10.
  • the power line 6 supplies power from the amplifier 2 to the electric motor 3.
  • the rotational position detection line 7 conveys rotational position information, which is an output of the rotational position detector 4, to the amplifier 2.
  • the command line 8 transmits the operation command generated by the upper unit 1 to the amplifier 2.
  • the measurement signal line 9 transmits a characteristic measurement signal to be described later to the amplifier 2.
  • the motor information line 10 conveys the operating state of the motor 3 (motor rotation position, motor rotation speed, motor torque command) and control parameter information in the amplifier 2 to the upper unit 1.
  • the amplifier 2 compares the operation command with the motor rotation position detected by the rotation position detector 4 so that the motor 3 rotates in accordance with the operation command generated by the upper unit 1.
  • the drive control is performed.
  • FIG. 2 is a block diagram showing a configuration of the upper part 1 of the diagnostic system 100 in the embodiment.
  • the high-order unit 1 includes a command pattern input unit 21, a command generation unit 22, a command analysis unit 23, a measurement signal generation unit 24, a device characteristic analysis unit 25, and an analysis result output. Part 26.
  • the command pattern input unit 21 receives input of operation command parameters and work classification information described later by the user of the diagnostic system 100.
  • the command generation unit 22 generates an operation command based on the parameters of the operation command received by the command pattern input unit 21.
  • the command generation unit 22 outputs the generated operation command to the amplifier 2 through the command line 8.
  • the command analysis unit 23 Based on the work classification information input to the command pattern input unit 21, the command analysis unit 23 sends an operation command to a work period in which the device (load machine 5) is performing a predetermined operation and a period other than the work period. It is divided into non-work periods, which are periods. The command analysis unit 23 determines an addition period in which the characteristic measurement signal is added to the operation command in the non-working period.
  • the characteristic measurement signal is a signal for measuring the characteristic of the electric motor drive system.
  • the measurement signal generator 24 generates a characteristic measurement signal.
  • the measurement signal generator 24 outputs the generated characteristic measurement signal to the amplifier 2 through the measurement signal line 9 during the addition period determined by the command analyzer 23.
  • the characteristic measurement signal is, for example, an M series signal motor torque command.
  • the device characteristic analysis unit 25 analyzes the characteristics of the electric motor drive system from the operation state of the electric motor 3 during the addition period and the control parameter information in the amplifier 2 obtained through the electric motor information line 10. That is, the apparatus characteristic analysis unit 25 acquires response information related to the characteristics of the motor drive system during the addition period, and calculates one or more characteristic values during the addition period of the motor drive system based on the response information.
  • the analysis result output unit 26 receives and accumulates the characteristics of the motor drive system analyzed by the device characteristic analysis unit 25.
  • the analysis result output unit 26 estimates an appropriate maintenance time from the accumulated changes in the characteristics of the motor drive system, and provides information to the user using a display or the like. That is, the analysis result output unit 26 estimates the time until the characteristic value reaches a predetermined threshold value based on the characteristic value calculated by the device characteristic analysis unit 25.
  • the analysis result output unit 26 outputs the estimated time as the maintenance time of the apparatus (load machine 5).
  • FIG. 3 is a timing chart showing an example of operation commands of the upper part of the diagnostic system in the embodiment.
  • T1 to T8 are elapsed time from time 0
  • S1 to S6 are rotation amounts
  • V1 and V2 are maximum values of speed commands in each rotation operation.
  • the example of FIG. 3 is an example of an operation command in which the rotation amount from S1 to S5 is sequentially rotated in the forward direction and then the rotation amount of S6 is rotated in the reverse direction to return to the original position.
  • the period during which the rotation amount from S1 to S5 is operated is a period during which the apparatus (load machine 5) performs some work while performing high-precision positioning, that is, a period during which a predetermined operation is performed.
  • the period during which the rotation operation of S6 is performed is a period for returning to the original position.
  • a period during which the apparatus is performing some work that is, a period during which a predetermined operation is performed is referred to as a work period, and the other period is referred to as a non-work period.
  • Information indicating whether it is a work period or a non-work period is called work classification information.
  • the apparatus load machine 5
  • the operation period is from time 0 to time T6, and the other time T6 to time T8. Is a non-working period.
  • the work period from time 0 to time T6 is the period for mounting the electronic component
  • the non-work period from time T6 to time T8 is after mounting the electronic component. It will be the period to return to pick up the parts.
  • Operation command parameters such as T1 to T8, S1 to S6, V1, and V2 and work classification information are input to the command pattern input unit 21.
  • the command generation unit 22 generates the operation command shown in FIG. 3 based on parameters such as T1 to T8, S1 to S6, V1, and V2 input to the command pattern input unit 21.
  • the command analysis unit 23 determines an addition period for adding the characteristic measurement signal within the non-work period of the work classification information input to the command pattern input unit 21. In the case of the operation command shown in FIG.
  • the non-working period is from T6 to T8, but TX at the beginning of the period during which the speed command is a constant speed between T6 and T7 is determined as the addition period.
  • TX at the beginning of the period during which the speed command is a constant speed between T6 and T7 is determined as the addition period.
  • the measurement signal generator 24 outputs the generated characteristic measurement signal to the amplifier 2 during the addition period determined by the command analyzer 23. In the amplifier 2, the characteristic measurement signal is added in the motor control system.
  • FIG. 4 is a block diagram illustrating a control configuration of a control system including the amplifier 2, the electric motor 3, and the load machine 5 included in the diagnosis system according to the embodiment.
  • a portion surrounded by a dotted line (A) is a speed feedback control unit 41
  • a portion surrounded by a dotted line (B) is a position feedback control unit 42. That is, it is a double feedback control configuration including a speed feedback control unit 41 and a position feedback control unit 42.
  • the speed command input from the command generation unit 22 in the upper unit 1 is integrated to obtain a position command.
  • the position command is input to the position feedback control unit 42.
  • the difference between the position command and the motor rotation position is calculated, and this is multiplied by a gain Kp to obtain an internal speed command.
  • the internal speed command is input to the speed feedback control unit 41.
  • the difference between the internal speed command and the motor rotation speed is calculated, and this is multiplied by the gain Kv to obtain the first torque command.
  • a characteristic measurement signal input from the measurement signal generator 24 is added to the first torque command to obtain an electric motor torque command.
  • the electric motor 3 is driven based on the electric motor torque command.
  • the amplifier 2 adds the characteristic measurement signal to the first torque command during the addition period determined by the command analysis unit 23, and drives the motor 3 based on the added motor torque command.
  • the amplifier 2 transmits the operation state (motor rotation speed, motor torque command) of the motor 3 to the upper unit 1 through the motor information line 10.
  • the device characteristic analysis unit 25 determines the device (load machine 5) from the motor rotation speed, which is the operation state of the motor 3 during the addition period obtained through the motor information line 10, and the motor torque command and the control parameter information in the amplifier 2. Analyze the characteristics. Hereinafter, the analysis of the characteristics of the apparatus (load machine 5) will be described.
  • the frequency characteristics of the controlled object to which the motor 3 and the load machine 5 are connected can be calculated. Specifically, it is obtained by frequency-analyzing each of the motor torque command and the motor rotation speed and calculating the difference. For example, frequency characteristics as shown in FIG. 5 are obtained.
  • FIG. 5 is a schematic diagram illustrating an example of frequency characteristics of a control target to which an electric motor and a load machine are connected in the diagnosis system according to the embodiment. If this frequency characteristic is obtained, since the control configuration and control parameters of the amplifier 2 are known, the open loop frequency characteristic of the speed feedback control unit 41 and the open loop frequency characteristic of the position feedback control unit 42 can be easily calculated.
  • phase margin information is output from the device characteristic analysis unit 25 to the analysis result output unit 26 as the analysis result of the device characteristics.
  • the above-described characteristic analysis of the device is continuously performed, for example, every month, and the obtained phase margin information is output from the device characteristic analysis unit 25 to the analysis result output unit 26. .
  • FIG. 6 is a schematic diagram illustrating an example of a time change of the phase margin output to the analysis result output unit 26 of the diagnosis system 100 according to the embodiment.
  • the data from the past to the present is plotted with the elapsed time as the horizontal axis and the phase margin as the vertical axis, and an estimation curve of how the time changes from that time is created.
  • the estimation curve is created using the least square method or the like.
  • the time until the intersection of the estimated curve and the predetermined limit value of the phase margin, in FIG. 6, Dx is estimated as an appropriate maintenance time and output.
  • the output information is provided to the user through a display or the like.
  • the characteristics of the motor drive system of the device (load machine 5) can be grasped without interfering with the work of the device (load machine 5) during normal operation.
  • an appropriate maintenance time can be output.
  • the phase margin which is an index for stability analysis of the control system, is used as the characteristics of the motor drive system, it has a high correlation with whether the motor drive system oscillates and accurately estimates an appropriate maintenance time It becomes possible.
  • the device characteristic analysis unit 25 can calculate the frequency characteristic with high accuracy, the phase margin can also be calculated with high accuracy. As a result, it is possible to accurately estimate an appropriate maintenance time.
  • the motor torque command which is an input signal of the frequency characteristic, has a flat gain characteristic in the entire frequency range. This is because if there is a portion that is not flat, the calculation accuracy of the frequency characteristics in the frequency region where the gain has dropped is degraded.
  • the motor torque command is obtained by adding a device characteristic measurement signal to the internal speed command. Since the device characteristic measurement signal is an M-sequence signal, it has white noise characteristics.
  • the internal speed command which is another component, has a gain characteristic that is as flat as possible. Since the acceleration in the constant speed region shown in FIG. 3 is substantially zero, the frequency component is only a direct current component, which satisfies this condition. Therefore, it is desirable to select the addition timing of the characteristic measurement signal from a period in which the acceleration of the operation command is substantially zero within the non-working period. Further, in the region near 0 speed, the relationship between the motor torque command, which is the input / output of the frequency characteristics, and the motor rotation speed becomes nonlinear due to the influence of static friction, and the calculation accuracy of the frequency characteristics deteriorates. For this reason, it is more desirable to select from a period in which the speed command is not 0 for a predetermined time or more. In the present embodiment, the addition period is determined in consideration of these two points.
  • the diagnosis system for an apparatus having an electric motor drive system grasps the characteristics of the electric motor drive system of the apparatus without disturbing the operation of the apparatus during normal operation. Therefore, it is possible to accurately estimate an appropriate maintenance time without reducing the operating rate of the apparatus.
  • the phase margin of the open loop frequency characteristic of the feedback control unit is used as the characteristic of the motor drive system.
  • the gain margin of the open loop frequency characteristic which is known as an index of stability of the control system, may be used.
  • the peak gain of the closed loop frequency characteristic which is also known as an index of stability of the control system, is used. Also good.
  • the device characteristic analysis unit 25 and the like are in the upper unit 1.
  • the amplifier 2 may have the function, or another element externally attached to the component of the present embodiment may have the function.
  • the addition period for adding the characteristic measurement signal is determined from the non-working period of the work classification information input by the command analysis unit 23.
  • the user may determine whether or not it is a non-work period and determine and input the timing.
  • phase margins When the frequency characteristic of the controlled object to which the electric motor 3 and the load machine 5 are connected is a multi-inertia system, there may be a plurality of points to be regarded as phase margins in the open loop frequency characteristic.
  • each estimation curve is created based on the time variation of each phase margin, and the time to reach the phase margin limit value earliest is output as the maintenance time. Also good.
  • all gain margins or all peak gains may be the characteristics of the motor drive system.
  • phase margin is used as the characteristic of the motor drive system.
  • phase margin two or more of phase margin, gain margin, and peak gain may be used.
  • each estimation curve may be created based on the time change of each value, and the time to reach each limit value set in advance earliest may be output as the maintenance time.
  • the present invention is useful for applications where it is desired to grasp the change in the characteristics of the apparatus and accurately estimate the appropriate maintenance time without reducing the operating rate of the apparatus with respect to the apparatus having an electric motor drive system.

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Abstract

Provided is a diagnostic system, comprising: a command analysis unit which classifies operation commands to a motor drive assembly into operation periods and non-operation periods, and in the non-operation periods, determines an addition period in which a characteristic measurement signal for measuring a characteristic of the motor drive assembly is added to a command which is internal to the motor drive assembly; an amplifier which, during the addition period, adds the characteristic measurement signal to the command which is internal to the motor drive assembly, and drives a motor within the motor drive assembly on the basis of the post-addition command; a device characteristic analysis unit which acquires response information which relates to the operation state of the motor drive assembly, and on the basis of the response information, computes one or more characteristic values of the motor drive assembly in the addition period; and an analysis result output unit which, on the basis of the characteristic values, estimates a time until the characteristic values reach a preset threshold value, and outputs the estimated time as a maintenance time of the device.

Description

診断システムDiagnostic system
　本発明は、電動機で駆動される機構を有する装置の診断システムに関する。本発明は、特に電動機、電動機を駆動する制御器、電動機で駆動される機構から成る電動機駆動系のメンテナンス時期の診断に関する。 The present invention relates to a diagnostic system for a device having a mechanism driven by an electric motor. The present invention particularly relates to diagnosis of a maintenance time of an electric motor drive system including an electric motor, a controller for driving the electric motor, and a mechanism driven by the electric motor.
　従来、電動機駆動系を有する装置の診断システムとして、機械の状態の変化から、電動機駆動系のメンテナンスの必要性を診断する技術が知られている（例えば特許文献１を参照）。 Conventionally, as a diagnostic system for an apparatus having an electric motor drive system, a technique for diagnosing the necessity of maintenance of the electric motor drive system from a change in the state of the machine is known (see, for example, Patent Document 1).
特開平４－２８２７０７号公報JP-A-4-282707
　しかしながら従来の診断システムでは、診断を行うことで、診断対象となる装置の稼働率が低下してしまう。 However, in the conventional diagnosis system, the operation rate of the device to be diagnosed is reduced by performing the diagnosis.
　そこで、本発明は、係る問題に鑑みてなされたものである。本発明は、診断対象となる装置の稼働率を低下させることなく、その装置を診断することができる診断システムを提供することを目的とする。 Therefore, the present invention has been made in view of such problems. An object of this invention is to provide the diagnostic system which can diagnose the apparatus, without reducing the operation rate of the apparatus used as a diagnosis object.
　本発明の一態様に係る診断システムは、電動機駆動系を有する装置の診断システムであって、電動機駆動系への動作指令を、装置が所定動作をしている期間である作業期間と、作業期間以外の期間である非作業期間とに区分し、非作業期間において、電動機駆動系の特性を測定するための特性測定用信号を電動機駆動系内の指令に加算する加算期間を決定する指令解析部と、加算期間に、電動機駆動系内の指令に特性測定用信号を加算して、加算後の指令に基づいて電動機駆動系内の電動機を駆動するアンプと、加算期間における、電動機駆動系の動作状態に係る応答情報を取得し、応答情報に基づいて、電動機駆動系の、加算期間における１以上の特性値を算出する装置特性解析部と、特性値に基づいて、特性値が、あらかじめ設定された閾値に至るまでの時間を推定し、推定した時間を装置のメンテナンス時期として出力する解析結果出力部とを備える。 A diagnostic system according to an aspect of the present invention is a diagnostic system for an apparatus having an electric motor drive system, and includes an operation command to the electric motor drive system, a work period during which the apparatus is performing a predetermined operation, and an operation period. A command analysis unit for determining an addition period in which a characteristic measurement signal for measuring the characteristics of the motor drive system is added to a command in the motor drive system during the non-work period. And, during the addition period, the characteristic measurement signal is added to the command in the motor drive system and the motor in the motor drive system is driven based on the command after the addition, and the operation of the motor drive system in the addition period Response information related to the state is acquired, and based on the response information, an apparatus characteristic analysis unit that calculates one or more characteristic values in the addition period of the motor drive system, and characteristic values are preset based on the characteristic values. It estimates the time until the threshold, and an analysis result output unit for outputting the estimated time as a maintenance time of the device.
　本発明の一態様に係る診断システムによると、診断対象となる装置の稼働率を低下させることなく、その装置を診断することができるようになる。 The diagnosis system according to one aspect of the present invention makes it possible to diagnose a device without reducing the operating rate of the device to be diagnosed.
実施の形態における診断システムの構成を示すブロック図である。It is a block diagram which shows the structure of the diagnostic system in embodiment. 実施の形態における診断システムの上位部の構成を示すブロック図である。It is a block diagram which shows the structure of the high-order part of the diagnostic system in embodiment. 実施の形態における診断システムの上位部の動作指令の例を示すタイミング図である。It is a timing diagram which shows the example of the operation command of the high-order part of the diagnostic system in embodiment. 実施の形態における診断システムに含まれるアンプ、電動機、および負荷機械から成る制御系の制御構成を示すブロック図である。It is a block diagram which shows the control structure of the control system which consists of an amplifier, an electric motor, and a load machine included in the diagnostic system in an embodiment. 実施の形態における診断システムの、電動機および負荷機械が連結された制御対象の周波数特性の例を示す模式図である。It is a schematic diagram which shows the example of the frequency characteristic of the control object to which the electric motor and the load machine of the diagnostic system in embodiment were connected. 実施の形態における診断システムの解析結果出力部へ出力される、位相余裕の時間変化の例を示す模式図である。It is a schematic diagram which shows the example of the time change of a phase margin output to the analysis result output part of the diagnostic system in embodiment. 従来の診断システムの一例を示すブロック図である。It is a block diagram which shows an example of the conventional diagnostic system. 従来の診断システムで得られる特性例を示す模式図である。It is a schematic diagram which shows the example of a characteristic obtained with the conventional diagnostic system. 従来の診断システムで得られる特性の変化例を示す模式図である。It is a schematic diagram which shows the example of a change of the characteristic obtained with the conventional diagnostic system.
　（本発明の一態様を得るに至った経緯）
　上述したように、従来から、電動機駆動系を有する装置の診断方法としては、例えば、機械の摩擦力の変化から、電動機駆動系のメンテナンスの必要性を診断する方法が知られている。 (Background to obtaining one embodiment of the present invention)
As described above, conventionally, as a method for diagnosing a device having an electric motor drive system, for example, a method of diagnosing the necessity of maintenance of the electric motor drive system from a change in the frictional force of the machine is known.
　図７は従来の診断システムの一例を示すブロック図である。図７に示されるように、従来の診断システムは、外部表示装置１０１（例えばパソコン）と、電動機１０３と、電動機１０３を駆動するアンプ１０２と、電動機１０３によって駆動される負荷機械１０４（例えば１軸スライダ）とを含む。外部表示装置１０１において、指令例えば速度台形波指令を作成し、アンプ１０２に転送する。この指令に基づいてアンプ１０２から電動機１０３に電力を供給し、動作（回転）させることで負荷機械１０４が駆動される。この時の電動機１０３の動作情報（電動機回転位置、電動機回転速度、電動機トルク指令）がアンプ１０２から外部表示装置１０１に転送される。 FIG. 7 is a block diagram showing an example of a conventional diagnostic system. As shown in FIG. 7, the conventional diagnosis system includes an external display device 101 (for example, a personal computer), an electric motor 103, an amplifier 102 that drives the electric motor 103, and a load machine 104 (for example, one shaft) that is driven by the electric motor 103. Slider). In the external display device 101, a command such as a speed trapezoidal wave command is created and transferred to the amplifier 102. The load machine 104 is driven by supplying electric power from the amplifier 102 to the electric motor 103 based on this command and causing the electric motor 103 to operate (rotate). Operation information (motor rotation position, motor rotation speed, motor torque command) of the motor 103 at this time is transferred from the amplifier 102 to the external display device 101.
　複数の速度台形波パターンで電動機１０３を動作させ、その時の電動機回転速度と電動機トルク指令を保存する。その後、外部表示装置１０１は、図８に示すような電動機回転速度と電動機トルク指令との関係をプロット表示する。図８は、従来の診断システムで得られる特性例を示す模式図である。図８中の２０１と２０２の部分を直線補間すると次式が得られる。
Ｔ＝Ａ・ｖ＋Ｂ　（数式１）
　ここで、Ｔは電動機トルク指令、ｖは電動機回転速度、Ａは粘性摩擦係数、Ｂは静止摩擦係数をそれぞれ表す。 The motor 103 is operated with a plurality of speed trapezoidal wave patterns, and the motor rotation speed and the motor torque command at that time are stored. Thereafter, the external display device 101 plots and displays the relationship between the motor rotation speed and the motor torque command as shown in FIG. FIG. 8 is a schematic diagram showing an example of characteristics obtained by a conventional diagnostic system. When the portions 201 and 202 in FIG. 8 are linearly interpolated, the following equation is obtained.
T = A · v + B (Formula 1)
Here, T represents the motor torque command, v represents the motor rotation speed, A represents the viscous friction coefficient, and B represents the static friction coefficient.
　粘性摩擦係数と静止摩擦係数とを初期連続運転後に記録しておく。その後、１週間、１ヶ月の単位で速度台形波パターンにて動作させた時の電動機の動作情報を用いて、電動機回転速度と電動機トルク指令との関係をプロット表示する。これにより、図９に示すような関係図が得られる。 Record the viscous friction coefficient and static friction coefficient after the initial continuous operation. Thereafter, the relationship between the motor rotation speed and the motor torque command is plotted and displayed using the operation information of the motor when operated in the speed trapezoidal wave pattern in units of one week and one month. Thereby, a relationship diagram as shown in FIG. 9 is obtained.
　図９は、従来の診断システムで得られる特性の変化例を示す模式図である。図９において、実線は初期の摩擦特性、破線は２年使用後の摩擦特性である。使用年数の経過に伴い、摩擦特性が変化していることが確認できる。摩擦特性の変化を確認することで、負荷機械のグリスの交換および機械部品の摩耗チェック等のメンテナンス時期かどうかを診断することができる。 FIG. 9 is a schematic diagram showing an example of a change in characteristics obtained with a conventional diagnostic system. In FIG. 9, the solid line represents the initial friction characteristic, and the broken line represents the friction characteristic after two years of use. It can be confirmed that the friction characteristics have changed with the lapse of years of use. By confirming the change in the friction characteristics, it is possible to diagnose whether it is time for maintenance such as replacement of grease of the load machine and wear check of machine parts.
　発明者は、上記の従来の診断システムにおいて、以下の問題が生じることを見出した。 The inventor has found that the following problems occur in the conventional diagnostic system.
　従来の技術では、別途診断運転を要する。例えば、摩擦特性を求めるために、電動機を複数の速度台形波パターンで動かし、電動機回転速度と電動機トルク指令を取得するという特別な動作が必要である。この動作をさせるためには、装置を含む生産ラインを一旦止めることになる。よって、生産性が低下する。また、この動作をさせる場合、通常動作に戻すための初期化動作等も、新たに必要になる。このため、装置の稼働率が低下してしまう。 The conventional technology requires a separate diagnostic operation. For example, in order to obtain the friction characteristic, a special operation of moving the electric motor with a plurality of speed trapezoidal wave patterns and acquiring the electric motor rotation speed and the electric motor torque command is necessary. In order to perform this operation, the production line including the apparatus is temporarily stopped. Therefore, productivity is reduced. In addition, when this operation is performed, an initialization operation for returning to the normal operation is newly required. For this reason, the operation rate of an apparatus will fall.
　また、従来の技術では、診断運転から得られた摩擦特性の変化から、機械部品の摩耗をチェックすべきか等のメンテナンス時期を診断している。しかし、どの程度の変化があればその時期かの判断基準が示されていない。判断基準を少しの変化に設定すると、メンテナンスが頻繁になり装置の稼働率が低下してしまう。逆に、判断基準を大きな変化に設定すると、メンテナンスが遅れて、装置が異常動作、例えば電動機駆動系の発振などで非常停止する可能性もある。この場合、早急に復旧させる必要があるが、交換すべき機械部品が準備できていないと、復旧までに時間がかかってしまう。理想的には適切な判断基準を設定するべきだが、異常動作発生時の摩擦特性は設置環境等によっても変わるため、ある程度の余裕を持たせる必要がある。したがって、精度よいメンテナンス時期の診断をするには、改善の余地がある。 Also, in the conventional technology, the maintenance time such as whether or not the wear of the machine parts should be checked is diagnosed from the change of the friction characteristic obtained from the diagnostic operation. However, there is no criteria for judging how much change there is. If the judgment criterion is set to a slight change, the maintenance becomes frequent and the operation rate of the apparatus decreases. On the other hand, if the judgment criterion is set to a large change, there is a possibility that the maintenance will be delayed, and the apparatus may be brought to an emergency stop due to abnormal operation such as oscillation of the electric motor drive system. In this case, it is necessary to quickly recover, but if a machine part to be replaced is not prepared, it takes time to recover. Ideally, an appropriate criterion should be set, but the friction characteristics when abnormal operation occurs vary depending on the installation environment and the like, so it is necessary to allow some margin. Therefore, there is room for improvement in order to accurately diagnose the maintenance time.
　発明者は、上述の点で、改善を図るべく、本発明の一態様に係る診断システムを得るに至った。 The inventors have obtained a diagnostic system according to one aspect of the present invention in order to improve the above-described points.
　本発明の一態様に係る診断システムは、電動機駆動系を有する装置の診断システムであって、電動機駆動系への動作指令を、装置が所定動作をしている期間である作業期間と、作業期間以外の期間である非作業期間とに区分し、非作業期間において、電動機駆動系の特性を測定するための特性測定用信号を電動機駆動系内の指令に加算する加算期間を決定する指令解析部と、加算期間に、電動機駆動系内の指令に特性測定用信号を加算して、加算後の指令に基づいて電動機駆動系内の電動機を駆動するアンプと、加算期間における、電動機駆動系の動作状態に係る応答情報を取得し、応答情報に基づいて、電動機駆動系の、加算期間における１以上の特性値を算出する装置特性解析部と、特性値に基づいて、特性値が、あらかじめ設定された閾値に至るまでの時間を推定し、推定した時間を装置のメンテナンス時期として出力する解析結果出力部とを備える。 A diagnostic system according to an aspect of the present invention is a diagnostic system for an apparatus having an electric motor drive system, and includes an operation command to the electric motor drive system, a work period during which the apparatus is performing a predetermined operation, and an operation period. A command analysis unit for determining an addition period in which a characteristic measurement signal for measuring the characteristics of the motor drive system is added to a command in the motor drive system during the non-work period. And, during the addition period, the characteristic measurement signal is added to the command in the motor drive system and the motor in the motor drive system is driven based on the command after the addition, and the operation of the motor drive system in the addition period Response information related to the state is acquired, and based on the response information, an apparatus characteristic analysis unit that calculates one or more characteristic values in the addition period of the motor drive system, and characteristic values are preset based on the characteristic values. It estimates the time until the threshold, and an analysis result output unit for outputting the estimated time as a maintenance time of the device.
　上記診断システムは、診断対象となる装置が所定動作をしている期間以外の期間である非作業期間における、電動機駆動系の動作状態に係る応答情報に基づいて、その電動機駆動系の特性値の時間変化を推定する。 The diagnostic system is configured to calculate the characteristic value of the motor drive system based on response information related to the operating state of the motor drive system in a non-working period that is a period other than a period during which the device to be diagnosed performs a predetermined operation. Estimate time change.
　このため、この診断システムによると、診断対象となる装置の稼働率を低下させることなく、その装置を診断することができるようになる。 For this reason, according to this diagnostic system, the device can be diagnosed without reducing the operating rate of the device to be diagnosed.
　また、特性値は、電動機駆動系内のフィードバック制御系の開ループ周波数特性の位相余裕、電動機駆動系内のフィードバック制御系の開ループ周波数特性のゲイン余裕、電動機駆動系内のフィードバック制御系の閉ループ周波数特性のピークゲインのうちのいずれか１つであるとしてもよい。 The characteristic values are the phase margin of the open loop frequency characteristic of the feedback control system in the motor drive system, the gain margin of the open loop frequency characteristic of the feedback control system in the motor drive system, and the closed loop of the feedback control system in the motor drive system. It may be any one of the peak gains of the frequency characteristics.
　これにより、より精度のよいメンテナンス時期を出力することができるようになる。 This makes it possible to output a more accurate maintenance time.
　また、装置特性解析部は、２以上の特性値を算出し、解析結果出力部は、メンテナンス時期の出力において、装置特性解析部によって推定された時間変化のそれぞれに基づいて、特性値のそれぞれがあらかじめ設定された閾値のそれぞれに至るまでの時間を推定し、推定した時間のうち、最も短い時間を、装置のメンテナンス時期として出力するとしてもよい。 In addition, the device characteristic analysis unit calculates two or more characteristic values, and the analysis result output unit calculates each of the characteristic values based on each time change estimated by the device characteristic analysis unit at the output of the maintenance period. The time until reaching each of the preset threshold values may be estimated, and the shortest time among the estimated times may be output as the maintenance time of the apparatus.
　これにより、より精度のよいメンテナンス時期を出力することができるようになる。 This makes it possible to output a more accurate maintenance time.
　また、２以上の特性値は、電動機駆動系内のフィードバック制御系の開ループ周波数特性の１つまたは複数の位相余裕、電動機駆動系内のフィードバック制御系の開ループ周波数特性の１つまたは複数のゲイン余裕、電動機駆動系内のフィードバック制御系の閉ループ周波数特性の１つまたは複数のピークゲインのうちの少なくとも２つを含むとしてもよい。 Further, the two or more characteristic values are one or more phase margins of the open loop frequency characteristics of the feedback control system in the motor drive system, and one or more of the open loop frequency characteristics of the feedback control system in the motor drive system. The gain margin may include at least two of one or more peak gains of the closed loop frequency characteristic of the feedback control system in the motor drive system.
　これにより、より精度のよいメンテナンス時期を出力することができるようになる。 This makes it possible to output a more accurate maintenance time.
　また、指令解析部は、非作業期間に区分された動作指令のうち、電動機駆動系の加速度が実質的に０の期間の中から、加算期間を決定するとしてもよい。 Further, the command analysis unit may determine the addition period from the period in which the acceleration of the motor drive system is substantially zero among the operation commands divided into the non-work periods.
　これにより、より精度のよいメンテナンス時期を出力することができるようになる。 This makes it possible to output a more accurate maintenance time.
　また、指令解析部は、非作業期間に区分された動作指令のうち、電動機駆動系の速度が所定時間以上０でない期間の中から、加算期間を決定するとしてもよい。 Further, the command analysis unit may determine the addition period from among the operation commands classified into the non-working period, from a period in which the speed of the motor drive system is not 0 for a predetermined time or more.
　これにより、より精度のよいメンテナンス時期を出力することができるようになる。 This makes it possible to output a more accurate maintenance time.
　なお、これらの包括的または具体的な態様は、システム、方法、集積回路、コンピュータプログラム、またはコンピュータ読み取り可能なＣＤ－ＲＯＭ（Ｃｏｍｐａｃｔ　Ｄｉｓｋ　－　Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）などの記録媒体で実現されても良い。また、システム、方法、集積回路、コンピュータプログラム、または記録媒体の任意な組み合わせで実現されてもよい。 Note that these comprehensive or specific modes may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM (Compact Disk-Read Only Memory). Further, the present invention may be realized by any combination of a system, a method, an integrated circuit, a computer program, or a recording medium.
　以下、本発明の実施の形態について、図面を参照しながら説明する。なお、以下で説明する実施の形態によって、本発明が限定されるものではない。以下で説明する実施の形態は、いずれも本発明の好ましい一具体例を示すものである。以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置および接続形態、ステップ、ステップの順序などは、一例であり、本発明を限定する主旨ではない。本発明は、請求の範囲だけによって限定される。よって、以下の実施の形態における構成要素のうち、本発明の最上位概念を示す独立請求項に記載されていない構成要素については、本発明の課題を達成するのに必ずしも必要ではないが、より好ましい形態を構成するものとして説明される。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the embodiments described below. Each of the embodiments described below shows a preferred specific example of the present invention. The numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of the constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. The present invention is limited only by the claims. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.
　（実施の形態）
　図１は、実施の形態における診断システム１００の構成を示すブロック図である。図１に示されるように、電動機駆動系を有する装置の診断システム１００は、上位部１と、電動機３と、アンプ２と、回転位置検出器４と、負荷機械５とを含む。上位部１は、動作指令の生成および後述するメンテナンス時期の推定を行う。アンプ２は、電動機３を駆動制御する。回転位置検出器４は、電動機３の回転位置を検出する。負荷機械５は、電動機３によって駆動される。 (Embodiment)
FIG. 1 is a block diagram showing a configuration of a diagnostic system 100 in the embodiment. As shown in FIG. 1, a diagnosis system 100 for an apparatus having an electric motor drive system includes an upper part 1, an electric motor 3, an amplifier 2, a rotational position detector 4, and a load machine 5. The host unit 1 generates an operation command and estimates a maintenance time described later. The amplifier 2 drives and controls the electric motor 3. The rotational position detector 4 detects the rotational position of the electric motor 3. The load machine 5 is driven by the electric motor 3.
　診断システム１００は、さらに、パワー線６と、回転位置検出線７と、指令線８と、測定用信号線９と、電動機情報線１０とを含む。パワー線６は、アンプ２から電動機３へ電力を供給する。回転位置検出線７は、回転位置検出器４の出力である回転位置情報をアンプ２へ伝える。指令線８は、上位部１で生成された動作指令をアンプ２へ伝える。測定用信号線９は、後述する特性測定用信号をアンプ２へ伝える。電動機情報線１０は、電動機３の動作状態（電動機回転位置、電動機回転速度、電動機トルク指令）および、アンプ２内の制御パラメータ情報を上位部１に伝える。 Diagnostic system 100 further includes a power line 6, a rotational position detection line 7, a command line 8, a measurement signal line 9, and a motor information line 10. The power line 6 supplies power from the amplifier 2 to the electric motor 3. The rotational position detection line 7 conveys rotational position information, which is an output of the rotational position detector 4, to the amplifier 2. The command line 8 transmits the operation command generated by the upper unit 1 to the amplifier 2. The measurement signal line 9 transmits a characteristic measurement signal to be described later to the amplifier 2. The motor information line 10 conveys the operating state of the motor 3 (motor rotation position, motor rotation speed, motor torque command) and control parameter information in the amplifier 2 to the upper unit 1.
　診断システム１００において、アンプ２は、上位部１で生成される動作指令通り電動機３が回転するように、動作指令と回転位置検出器４で検出される電動機回転位置とを比較しながら、電動機３の駆動制御を行う。 In the diagnostic system 100, the amplifier 2 compares the operation command with the motor rotation position detected by the rotation position detector 4 so that the motor 3 rotates in accordance with the operation command generated by the upper unit 1. The drive control is performed.
　図２は、実施の形態における診断システム１００の上位部１の構成を示すブロック図である。図２に示されるように、上位部１は、指令パターン入力部２１と、指令生成部２２と、指令解析部２３と、測定用信号生成部２４と、装置特性解析部２５と、解析結果出力部２６とを含む。 FIG. 2 is a block diagram showing a configuration of the upper part 1 of the diagnostic system 100 in the embodiment. As shown in FIG. 2, the high-order unit 1 includes a command pattern input unit 21, a command generation unit 22, a command analysis unit 23, a measurement signal generation unit 24, a device characteristic analysis unit 25, and an analysis result output. Part 26.
　指令パターン入力部２１は、診断システム１００のユーザによる、動作指令のパラメータおよび後述する作業区分情報の入力を受け付ける。 The command pattern input unit 21 receives input of operation command parameters and work classification information described later by the user of the diagnostic system 100.
　指令生成部２２は、指令パターン入力部２１によって受け付けられた動作指令のパラメータに基づいて、動作指令を生成する。指令生成部２２は、生成した動作指令を、指令線８を通じてアンプ２へ出力する。 The command generation unit 22 generates an operation command based on the parameters of the operation command received by the command pattern input unit 21. The command generation unit 22 outputs the generated operation command to the amplifier 2 through the command line 8.
　指令解析部２３は、指令パターン入力部２１に入力された作業区分情報に基づいて、動作指令を、装置（負荷機械５）が所定動作をしている期間である作業期間と、作業期間以外の期間である非作業期間とに区分する。指令解析部２３は、非作業期間において、特性測定用信号を動作指令に加算する加算期間を決定する。特性測定用信号は、電動機駆動系の特性を測定するための信号である。 Based on the work classification information input to the command pattern input unit 21, the command analysis unit 23 sends an operation command to a work period in which the device (load machine 5) is performing a predetermined operation and a period other than the work period. It is divided into non-work periods, which are periods. The command analysis unit 23 determines an addition period in which the characteristic measurement signal is added to the operation command in the non-working period. The characteristic measurement signal is a signal for measuring the characteristic of the electric motor drive system.
　測定用信号生成部２４は、特性測定用信号を生成する。測定用信号生成部２４は、指令解析部２３によって決定された加算期間に、生成した特性測定用信号を、測定用信号線９を通じてアンプ２へ出力する。特性測定用信号としては、例えばＭ系列信号の電動機トルク指令とする。 The measurement signal generator 24 generates a characteristic measurement signal. The measurement signal generator 24 outputs the generated characteristic measurement signal to the amplifier 2 through the measurement signal line 9 during the addition period determined by the command analyzer 23. The characteristic measurement signal is, for example, an M series signal motor torque command.
　装置特性解析部２５は、電動機情報線１０を通じて得られる、加算期間の電動機３の動作状態およびアンプ２内の制御パラメータ情報から電動機駆動系の特性を解析する。すなわち、装置特性解析部２５は、加算期間における電動機駆動系の特性に係る応答情報を取得し、その応答情報に基づいて、電動機駆動系の、加算期間における１以上の特性値を算出する。 The device characteristic analysis unit 25 analyzes the characteristics of the electric motor drive system from the operation state of the electric motor 3 during the addition period and the control parameter information in the amplifier 2 obtained through the electric motor information line 10. That is, the apparatus characteristic analysis unit 25 acquires response information related to the characteristics of the motor drive system during the addition period, and calculates one or more characteristic values during the addition period of the motor drive system based on the response information.
　解析結果出力部２６には、装置特性解析部２５で解析された電動機駆動系の特性が入力されるとともに蓄積される。解析結果出力部２６は、蓄積された電動機駆動系の特性の時間変化から、適切なメンテナンス時期を推定し、ディスプレイ等を用いてユーザに情報を提供する。すなわち、解析結果出力部２６は、装置特性解析部２５によって算出された特性値に基づいて、その特性値が、予め定められた閾値に至るまでの時間を推定する。解析結果出力部２６は、推定した時間を、装置（負荷機械５）のメンテナンス時期として出力する。 The analysis result output unit 26 receives and accumulates the characteristics of the motor drive system analyzed by the device characteristic analysis unit 25. The analysis result output unit 26 estimates an appropriate maintenance time from the accumulated changes in the characteristics of the motor drive system, and provides information to the user using a display or the like. That is, the analysis result output unit 26 estimates the time until the characteristic value reaches a predetermined threshold value based on the characteristic value calculated by the device characteristic analysis unit 25. The analysis result output unit 26 outputs the estimated time as the maintenance time of the apparatus (load machine 5).
　以下、本実施の形態の診断システム１００について、図を用いて、より具体的に説明する。 Hereinafter, the diagnosis system 100 of the present embodiment will be described more specifically with reference to the drawings.
　図３は、実施の形態における診断システムの上位部の動作指令の例を示すタイミング図である。図３において、Ｔ１～Ｔ８は時刻０からの経過時間、Ｓ１～Ｓ６は回転量、Ｖ１、Ｖ２は各回転動作時の速度指令の最大値である。図３の例は、正方向にＳ１からＳ５までの回転量を順に回転し、そのあと逆方向にＳ６の回転量を回転して、元の位置に戻る動作指令の例である。Ｓ１からＳ５までの回転量の動作をする期間は、装置（負荷機械５）が高精度の位置決めをしながらなんらかの仕事をしている期間、すなわち所定動作をしている期間である。Ｓ６の回転動作をする期間は元の位置に戻る期間とする。 FIG. 3 is a timing chart showing an example of operation commands of the upper part of the diagnostic system in the embodiment. In FIG. 3, T1 to T8 are elapsed time from time 0, S1 to S6 are rotation amounts, and V1 and V2 are maximum values of speed commands in each rotation operation. The example of FIG. 3 is an example of an operation command in which the rotation amount from S1 to S5 is sequentially rotated in the forward direction and then the rotation amount of S6 is rotated in the reverse direction to return to the original position. The period during which the rotation amount from S1 to S5 is operated is a period during which the apparatus (load machine 5) performs some work while performing high-precision positioning, that is, a period during which a predetermined operation is performed. The period during which the rotation operation of S6 is performed is a period for returning to the original position.
　ここで、装置がなんらかの仕事をしている期間、すなわち、所定動作をしている期間を作業期間、それ以外の期間を非作業期間と呼ぶ。作業期間か非作業期間かという情報を作業区分情報と呼ぶ。図３に示す動作指令の場合、装置（負荷機械５）がなんらかの仕事をしている、すなわち、所定動作をしている時刻０から時刻Ｔ６までが作業期間、それ以外の時刻Ｔ６から時刻Ｔ８までが非作業期間となる。例えば、所定動作が部品実装機の動作とすると、時刻０から時刻Ｔ６までの作業期間は電子部品の実装をする期間、時刻Ｔ６から時刻Ｔ８までの非作業期間は電子部品を実装し終わって次の部品を取りに戻る期間となる。 Here, a period during which the apparatus is performing some work, that is, a period during which a predetermined operation is performed is referred to as a work period, and the other period is referred to as a non-work period. Information indicating whether it is a work period or a non-work period is called work classification information. In the case of the operation command shown in FIG. 3, the apparatus (load machine 5) is doing some work, that is, the operation period is from time 0 to time T6, and the other time T6 to time T8. Is a non-working period. For example, if the predetermined operation is the operation of the component mounter, the work period from time 0 to time T6 is the period for mounting the electronic component, and the non-work period from time T6 to time T8 is after mounting the electronic component. It will be the period to return to pick up the parts.
　このような動作指令を生成する上位部１の各構成要素の動作を説明する。指令パターン入力部２１に、Ｔ１～Ｔ８、Ｓ１～Ｓ６、Ｖ１、Ｖ２といった動作指令のパラメータと、作業区分情報とが入力される。指令生成部２２は、指令パターン入力部２１に入力されたＴ１～Ｔ８、Ｓ１～Ｓ６、Ｖ１、Ｖ２といったパラメータに基づき、図３に示す動作指令を生成する。指令解析部２３は、指令パターン入力部２１に入力された作業区分情報の非作業期間内で、特性測定用信号を加算する加算期間を決定する。図３に示す動作指令の場合、Ｔ６からＴ８までが非作業期間であるが、Ｔ６からＴ７の間の、速度指令が一定速である期間の初めの方のＴＸを、加算期間として決める。加算期間の望ましい決め方については、後述する。測定用信号生成部２４は、指令解析部２３によって決められた加算期間、生成した特性測定用信号をアンプ２へ出力する。アンプ２内では、電動機の制御系において、特性測定用信号が加算される。 The operation of each component of the upper part 1 that generates such an operation command will be described. Operation command parameters such as T1 to T8, S1 to S6, V1, and V2 and work classification information are input to the command pattern input unit 21. The command generation unit 22 generates the operation command shown in FIG. 3 based on parameters such as T1 to T8, S1 to S6, V1, and V2 input to the command pattern input unit 21. The command analysis unit 23 determines an addition period for adding the characteristic measurement signal within the non-work period of the work classification information input to the command pattern input unit 21. In the case of the operation command shown in FIG. 3, the non-working period is from T6 to T8, but TX at the beginning of the period during which the speed command is a constant speed between T6 and T7 is determined as the addition period. A desirable method for determining the addition period will be described later. The measurement signal generator 24 outputs the generated characteristic measurement signal to the amplifier 2 during the addition period determined by the command analyzer 23. In the amplifier 2, the characteristic measurement signal is added in the motor control system.
　図４は、実施の形態における診断システムに含まれるアンプ２、電動機３、および負荷機械５から成る制御系の制御構成を示すブロック図である。点線（Ａ）で囲まれた部分が速度フィードバック制御部４１、点線（Ｂ）で囲まれた部分が位置フィードバック制御部４２である。すなわち、速度フィードバック制御部４１と位置フィードバック制御部４２からなる２重フィードバック制御構成である。 FIG. 4 is a block diagram illustrating a control configuration of a control system including the amplifier 2, the electric motor 3, and the load machine 5 included in the diagnosis system according to the embodiment. A portion surrounded by a dotted line (A) is a speed feedback control unit 41, and a portion surrounded by a dotted line (B) is a position feedback control unit 42. That is, it is a double feedback control configuration including a speed feedback control unit 41 and a position feedback control unit 42.
　上位部１内の指令生成部２２から入力された速度指令を積分し、位置指令とする。位置指令は、位置フィードバック制御部４２に入力される。位置指令と電動機回転位置の差分が計算され、これにゲインＫｐを乗じ、内部速度指令とする。内部速度指令は速度フィードバック制御部４１に入力される。内部速度指令と電動機回転速度の差分が計算され、これにゲインＫｖを乗じ、第１トルク指令とする。第１トルク指令に測定用信号生成部２４から入力される特性測定用信号を加算し、電動機トルク指令とする。電動機トルク指令に基づいて電動機３を駆動する。 The speed command input from the command generation unit 22 in the upper unit 1 is integrated to obtain a position command. The position command is input to the position feedback control unit 42. The difference between the position command and the motor rotation position is calculated, and this is multiplied by a gain Kp to obtain an internal speed command. The internal speed command is input to the speed feedback control unit 41. The difference between the internal speed command and the motor rotation speed is calculated, and this is multiplied by the gain Kv to obtain the first torque command. A characteristic measurement signal input from the measurement signal generator 24 is added to the first torque command to obtain an electric motor torque command. The electric motor 3 is driven based on the electric motor torque command.
　すなわち、アンプ２は、指令解析部２３によって決定された加算期間に、第１トルク指令に特性測定用信号を加算して、加算後の電動機トルク指令に基づいて、電動機３を駆動する。 That is, the amplifier 2 adds the characteristic measurement signal to the first torque command during the addition period determined by the command analysis unit 23, and drives the motor 3 based on the added motor torque command.
　また、アンプ２は、電動機３の動作状態（電動機回転速度、電動機トルク指令）を、電動機情報線１０を通じて上位部１に伝える。 In addition, the amplifier 2 transmits the operation state (motor rotation speed, motor torque command) of the motor 3 to the upper unit 1 through the motor information line 10.
　図２を用いた、上位部１内の要素の動作の説明に戻る。装置特性解析部２５は、電動機情報線１０を通じて得られる加算期間の電動機３の動作状態である電動機回転速度と、電動機トルク指令およびアンプ２内の制御パラメータ情報とから、装置（負荷機械５）の特性を解析する。以下、装置（負荷機械５）の特性の解析について説明する。 Returning to the operation of the elements in the upper part 1 using FIG. The device characteristic analysis unit 25 determines the device (load machine 5) from the motor rotation speed, which is the operation state of the motor 3 during the addition period obtained through the motor information line 10, and the motor torque command and the control parameter information in the amplifier 2. Analyze the characteristics. Hereinafter, the analysis of the characteristics of the apparatus (load machine 5) will be described.
　図４のブロック図からわかるように、電動機トルク指令を入力、電動機回転速度を出力とすれば、電動機３および負荷機械５が連結された制御対象の周波数特性を計算できる。具体的には、電動機トルク指令、電動機回転速度それぞれを周波数解析し、その差分を演算することで得られる。例えば、図５に示すような周波数特性が得られる。図５は、実施の形態における診断システムの、電動機および負荷機械が連結された制御対象の周波数特性の例を示す模式図である。この周波数特性が得られれば、アンプ２の制御構成、および制御パラメータは既知であるため、容易に速度フィードバック制御部４１の開ループ周波数特性、位置フィードバック制御部４２の開ループ周波数特性を計算できる。フィードバック制御系の開ループ周波数特性の安定性解析としては、位相余裕を調べる方法が知られている。制御系の安定性解析は、装置（負荷機械５）の電動機駆動系が発振するかどうかとの相関性が高いため、異常動作前の判断指標として適切である。得られた位相余裕の情報を装置の特性の解析結果として、装置特性解析部２５から解析結果出力部２６へ出力する。 As can be seen from the block diagram of FIG. 4, if the motor torque command is input and the motor rotation speed is output, the frequency characteristics of the controlled object to which the motor 3 and the load machine 5 are connected can be calculated. Specifically, it is obtained by frequency-analyzing each of the motor torque command and the motor rotation speed and calculating the difference. For example, frequency characteristics as shown in FIG. 5 are obtained. FIG. 5 is a schematic diagram illustrating an example of frequency characteristics of a control target to which an electric motor and a load machine are connected in the diagnosis system according to the embodiment. If this frequency characteristic is obtained, since the control configuration and control parameters of the amplifier 2 are known, the open loop frequency characteristic of the speed feedback control unit 41 and the open loop frequency characteristic of the position feedback control unit 42 can be easily calculated. As a stability analysis of the open-loop frequency characteristics of the feedback control system, a method for examining the phase margin is known. Since the stability analysis of the control system has a high correlation with whether or not the motor drive system of the apparatus (load machine 5) oscillates, it is appropriate as a determination index before abnormal operation. The obtained phase margin information is output from the device characteristic analysis unit 25 to the analysis result output unit 26 as the analysis result of the device characteristics.
　以上の装置（負荷機械５）の特性の解析を、例えば、１か月ごとに継続的に実施し、得られた位相余裕の情報を、装置特性解析部２５から解析結果出力部２６へ出力する。 The above-described characteristic analysis of the device (load machine 5) is continuously performed, for example, every month, and the obtained phase margin information is output from the device characteristic analysis unit 25 to the analysis result output unit 26. .
　解析結果出力部２６は、継続的に入力される位相余裕の値を蓄積する。図６は、実施の形態における診断システム１００の解析結果出力部２６へ出力される、位相余裕の時間変化の例を示す模式図である。図６に示すように、横軸を経過時間、縦軸を位相余裕として、過去から現在までのデータをプロットし、その時間変化から今後どう変化するかの推定曲線を作成する。推定曲線の作成は最少２乗法等を用いて行う。推定曲線と、あらかじめ決めておいた位相余裕の限界値との交点までの時間、図６においてはＤｘを適切なメンテナンス時期と推定し、出力する。出力された情報はディスプレイ等を通してユーザに提供される。 The analysis result output unit 26 accumulates continuously input phase margin values. FIG. 6 is a schematic diagram illustrating an example of a time change of the phase margin output to the analysis result output unit 26 of the diagnosis system 100 according to the embodiment. As shown in FIG. 6, the data from the past to the present is plotted with the elapsed time as the horizontal axis and the phase margin as the vertical axis, and an estimation curve of how the time changes from that time is created. The estimation curve is created using the least square method or the like. The time until the intersection of the estimated curve and the predetermined limit value of the phase margin, in FIG. 6, Dx is estimated as an appropriate maintenance time and output. The output information is provided to the user through a display or the like.
　以上の動作により、通常動作の中で装置（負荷機械５）の作業を妨げることなく、装置（負荷機械５）の電動機駆動系の特性を把握できる。その時間変化を推定することで、適切なメンテナンス時期を出力することが可能となる。また、電動機駆動系の特性として制御系の安定性解析の指標である位相余裕を用いているため、電動機駆動系が発振するかどうかとの相関性が高く、精度よく適切なメンテナンス時期を推定することが可能となる。 By the above operation, the characteristics of the motor drive system of the device (load machine 5) can be grasped without interfering with the work of the device (load machine 5) during normal operation. By estimating the time change, an appropriate maintenance time can be output. In addition, because the phase margin, which is an index for stability analysis of the control system, is used as the characteristics of the motor drive system, it has a high correlation with whether the motor drive system oscillates and accurately estimates an appropriate maintenance time It becomes possible.
　ここで、指令解析部２３で決められる特性測定用信号の望ましい加算期間について説明する。装置特性解析部２５において、精度よく周波数特性を算出できれば、位相余裕も精度よく算出できる。結果的に、適切なメンテナンス時期を精度よく推定することが可能となる。精度よく周波数特性を算出するためには、周波数特性の入力信号である電動機トルク指令が、全周波数領域でフラットなゲイン特性を持つことが望ましい。フラットでない部分があると、ゲインの落ち込んだ周波数域の周波数特性の演算精度が劣化するためである。図４に示したように、電動機トルク指令は、内部速度指令に装置特性測定用信号を加算したものである。装置特性測定用信号はＭ系列信号であるため、ホワイトノイズ特性を有する。すなわち、全周波数領域でフラットなゲイン特性を持つ。従って、もう１つの成分である内部速度指令が、できる限りフラットなゲイン特性であることが望ましい。図３で示した一定速の領域は加速度が実質的に０になるので、周波数成分としては直流成分のみになり、この条件に合致する。よって、特性測定用信号の加算タイミングは、非作業期間内で、動作指令の加速度が実質的に０の期間の中から選定することが望ましい。さらに、０速度付近の領域では、静摩擦の影響を受けて、周波数特性の入出力である電動機トルク指令と電動機回転速度の関係が非線形となり、周波数特性の演算精度が劣化する。このため、速度指令が所定時間以上０でない期間の中から選定することがより望ましい。本実施の形態では、この２点を考慮して加算期間を決定している。 Here, a desirable addition period of the characteristic measurement signal determined by the command analysis unit 23 will be described. If the device characteristic analysis unit 25 can calculate the frequency characteristic with high accuracy, the phase margin can also be calculated with high accuracy. As a result, it is possible to accurately estimate an appropriate maintenance time. In order to calculate the frequency characteristic with high accuracy, it is desirable that the motor torque command, which is an input signal of the frequency characteristic, has a flat gain characteristic in the entire frequency range. This is because if there is a portion that is not flat, the calculation accuracy of the frequency characteristics in the frequency region where the gain has dropped is degraded. As shown in FIG. 4, the motor torque command is obtained by adding a device characteristic measurement signal to the internal speed command. Since the device characteristic measurement signal is an M-sequence signal, it has white noise characteristics. That is, it has a flat gain characteristic in the entire frequency region. Therefore, it is desirable that the internal speed command, which is another component, has a gain characteristic that is as flat as possible. Since the acceleration in the constant speed region shown in FIG. 3 is substantially zero, the frequency component is only a direct current component, which satisfies this condition. Therefore, it is desirable to select the addition timing of the characteristic measurement signal from a period in which the acceleration of the operation command is substantially zero within the non-working period. Further, in the region near 0 speed, the relationship between the motor torque command, which is the input / output of the frequency characteristics, and the motor rotation speed becomes nonlinear due to the influence of static friction, and the calculation accuracy of the frequency characteristics deteriorates. For this reason, it is more desirable to select from a period in which the speed command is not 0 for a predetermined time or more. In the present embodiment, the addition period is determined in consideration of these two points.
　以上のように、本実施の形態の電動機駆動系を有する装置の診断システムは、通常動作の中で、装置の作業を妨げることなく、装置の電動機駆動系の特性を把握する。したがって、装置の稼働率を低下させることなく、適切なメンテナンス時期を精度よく推定することができる。 As described above, the diagnosis system for an apparatus having an electric motor drive system according to the present embodiment grasps the characteristics of the electric motor drive system of the apparatus without disturbing the operation of the apparatus during normal operation. Therefore, it is possible to accurately estimate an appropriate maintenance time without reducing the operating rate of the apparatus.
　本実施の形態では、電動機駆動系の特性としてフィードバック制御部の開ループ周波数特性の位相余裕を用いるとした。しかし、同じように制御系の安定性の指標として知られている開ループ周波数特性のゲイン余裕を用いるとしてもよい。また、速度フィードバック制御部４１および位置フィードバック制御部４２の閉ループ周波数特性も同様に容易に演算できるため、同じように制御系の安定性の指標として知られている閉ループ周波数特性のピークゲインを用いるとしてもよい。 In this embodiment, the phase margin of the open loop frequency characteristic of the feedback control unit is used as the characteristic of the motor drive system. However, similarly, the gain margin of the open loop frequency characteristic, which is known as an index of stability of the control system, may be used. Further, since the closed loop frequency characteristics of the speed feedback control unit 41 and the position feedback control unit 42 can be easily calculated in the same manner, the peak gain of the closed loop frequency characteristic, which is also known as an index of stability of the control system, is used. Also good.
　本実施の形態では、装置特性解析部２５等は上位部１内にあるとした。しかし、アンプ２内にその機能を持たせる、あるいは、本実施の形態の構成要素に外付けされる別要素にその機能を持たせるとしてもよい。 In this embodiment, the device characteristic analysis unit 25 and the like are in the upper unit 1. However, the amplifier 2 may have the function, or another element externally attached to the component of the present embodiment may have the function.
　本実施の形態では、指令解析部２３で入力された作業区分情報の非作業期間から特性測定用信号を加算する加算期間を決めるとした。しかし、動作指令パラメータ入力時にユーザが非作業期間かどうかを判断してタイミングを決定し入力するとしてもよい。 In the present embodiment, the addition period for adding the characteristic measurement signal is determined from the non-working period of the work classification information input by the command analysis unit 23. However, when the operation command parameter is input, the user may determine whether or not it is a non-work period and determine and input the timing.
　電動機３および負荷機械５が連結された制御対象の周波数特性が多慣性系である場合、開ループ周波数特性における位相余裕としてみるポイントが複数存在する場合がある。この場合は、すべての位相余裕を電動機駆動系の特性とし、それぞれの位相余裕の時間変化に基づいてそれぞれの推定曲線を作成し、もっとも早く位相余裕限界値に至る時間をメンテナンス時期として出力するとしてもよい。位相余裕だけでなく、ゲイン余裕またはピークゲインを用いる場合についても同様に、複数存在すれば、全てのゲイン余裕または全てのピークゲインを電動機駆動系の特性とするとしてもよい。 When the frequency characteristic of the controlled object to which the electric motor 3 and the load machine 5 are connected is a multi-inertia system, there may be a plurality of points to be regarded as phase margins in the open loop frequency characteristic. In this case, assume that all phase margins are the characteristics of the motor drive system, each estimation curve is created based on the time variation of each phase margin, and the time to reach the phase margin limit value earliest is output as the maintenance time. Also good. Similarly, when not only the phase margin but also the gain margin or peak gain are used, if there are a plurality of gain margins, all gain margins or all peak gains may be the characteristics of the motor drive system.
　本実施の形態では、電動機駆動系の特性として位相余裕のみを用いている。しかし、位相余裕、ゲイン余裕、ピークゲインのうち２つ以上を用いるとしてもよい。２つ以上用いる場合は、それぞれの値の時間変化に基づいてそれぞれの推定曲線を作成し、もっとも早くあらかじめ設定されたそれぞれの限界値に至る時間をメンテナンス時期として出力するとしてもよい。 In this embodiment, only the phase margin is used as the characteristic of the motor drive system. However, two or more of phase margin, gain margin, and peak gain may be used. When two or more are used, each estimation curve may be created based on the time change of each value, and the time to reach each limit value set in advance earliest may be output as the maintenance time.
　本発明は、電動機駆動系を有する装置に対し、装置の稼働率を低下させることなく、装置の特性の変化を把握し、適切なメンテナンス時期を精度よく推定したい用途に有用である。 The present invention is useful for applications where it is desired to grasp the change in the characteristics of the apparatus and accurately estimate the appropriate maintenance time without reducing the operating rate of the apparatus with respect to the apparatus having an electric motor drive system.
１　上位部
２　アンプ
３　電動機
４　回転位置検出器
５　負荷機械
６　パワー線
７　回転位置検出線
８　指令線
９　測定用信号線
１０　電動機情報線
２１　指令パターン入力部
２２　指令生成部
２３　指令解析部
２４　測定用信号生成部
２５　装置特性解析部
２６　解析結果出力部
４１　速度フィードバック制御部
４２　位置フィードバック制御部
１００　診断システム DESCRIPTION OF SYMBOLS 1 High-order part 2 Amplifier 3 Motor 4 Rotation position detector 5 Load machine 6 Power line 7 Rotation position detection line 8 Command line 9 Signal line for measurement 10 Motor information line 21 Command pattern input part 22 Command generation part 23 Command analysis part 24 Measurement Signal generation unit 25 device characteristic analysis unit 26 analysis result output unit 41 speed feedback control unit 42 position feedback control unit 100 diagnostic system

Claims (6)

  1. 電動機駆動系を有する装置の診断システムであって、
    前記電動機駆動系への動作指令を、前記装置が所定動作をしている期間である作業期間と、前記作業期間以外の期間である非作業期間とに区分し、前記非作業期間において、前記電動機駆動系の特性を測定するための特性測定用信号を前記電動機駆動系内の指令に加算する加算期間を決定する指令解析部と、
    前記加算期間に、前記電動機駆動系内の指令に前記特性測定用信号を加算して、加算後の指令に基づいて前記電動機駆動系内の電動機を駆動するアンプと、
    前記加算期間における、前記電動機駆動系の動作状態に係る応答情報を取得し、前記応答情報に基づいて、前記電動機駆動系の、前記加算期間における１以上の特性値を算出する装置特性解析部と、
    前記特性値に基づいて、前記特性値が、あらかじめ設定された閾値に至るまでの時間を推定し、前記推定した時間を前記装置のメンテナンス時期として出力する解析結果出力部とを備える
    診断システム。     A diagnostic system for an apparatus having an electric motor drive system,
    The operation command to the electric motor drive system is divided into a work period during which the device is performing a predetermined operation and a non-work period other than the work period. In the non-work period, the electric motor A command analysis unit for determining an addition period for adding a characteristic measurement signal for measuring the characteristics of the drive system to the command in the electric motor drive system;
    In the addition period, an amplifier that adds the characteristic measurement signal to a command in the motor drive system and drives the motor in the motor drive system based on the command after the addition;
    An apparatus characteristic analysis unit that obtains response information related to an operating state of the electric motor drive system in the addition period, and calculates one or more characteristic values of the electric motor drive system in the addition period based on the response information; ,
    A diagnostic system comprising: an analysis result output unit that estimates a time until the characteristic value reaches a preset threshold value based on the characteristic value, and outputs the estimated time as a maintenance time of the apparatus.
  2. 前記特性値は、前記電動機駆動系内のフィードバック制御系の開ループ周波数特性の位相余裕、前記電動機駆動系内の前記フィードバック制御系の前記開ループ周波数特性のゲイン余裕、前記電動機駆動系内の前記フィードバック制御系の閉ループ周波数特性のピークゲインのうちのいずれか１つである
    請求項１に記載の診断システム。     The characteristic value includes a phase margin of an open loop frequency characteristic of a feedback control system in the electric motor drive system, a gain margin of the open loop frequency characteristic of the feedback control system in the electric motor drive system, and the gain in the electric motor drive system. The diagnostic system according to claim 1, wherein the diagnostic system is any one of peak gains of a closed loop frequency characteristic of the feedback control system.
  3. 前記装置特性解析部は、２以上の特性値を算出し、
    前記解析結果出力部は、前記メンテナンス時期の出力において、前記装置特性解析部によって推定された時間変化のそれぞれに基づいて、前記特性値のそれぞれがあらかじめ設定された閾値のそれぞれに至るまでの時間を推定し、前記推定した時間のうち、最も短い時間を、前記装置のメンテナンス時期として出力する
    請求項１に記載の診断システム。     The device characteristic analysis unit calculates two or more characteristic values,
    The analysis result output unit calculates a time until each of the characteristic values reaches a preset threshold value based on each of the time changes estimated by the device characteristic analysis unit in the output of the maintenance period. The diagnosis system according to claim 1, wherein the diagnosis system outputs the shortest time among the estimated times as a maintenance time of the device.
  4. 前記２以上の特性値は、前記電動機駆動系内のフィードバック制御系の開ループ周波数特性の１つまたは複数の位相余裕、前記電動機駆動系内のフィードバック制御系の開ループ周波数特性の１つまたは複数のゲイン余裕、前記電動機駆動系内のフィードバック制御系の閉ループ周波数特性の１つまたは複数のピークゲインのうちの少なくとも２つを含む
    請求項３に記載の診断システム。     The two or more characteristic values are one or more phase margins of an open loop frequency characteristic of a feedback control system in the motor drive system, and one or more of an open loop frequency characteristic of a feedback control system in the motor drive system. The diagnostic system according to claim 3, further comprising at least two of one or more peak gains of a closed loop frequency characteristic of a feedback control system in the electric motor drive system.
  5. 前記指令解析部は、前記非作業期間に区分された前記動作指令のうち、前記電動機駆動系の加速度が実質的に０の期間の中から、前記加算期間を決定する
    請求項１に記載の診断システム。     2. The diagnosis according to claim 1, wherein the command analysis unit determines the addition period from a period in which the acceleration of the electric motor drive system is substantially zero among the operation commands divided into the non-work periods. system.
  6. 前記指令解析部は、前記非作業期間に区分された前記動作指令のうち、前記電動機駆動系の速度が所定時間以上０でない期間の中から、前記加算期間を決定する
    請求項１に記載の診断システム。     2. The diagnosis according to claim 1, wherein the command analysis unit determines the addition period from periods in which the speed of the electric motor drive system is not 0 for a predetermined time or more among the operation commands divided into the non-work periods. system.
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