WO2019151183A1 - Dispositif et programme d'aide au réglage - Google Patents

Dispositif et programme d'aide au réglage Download PDF

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Publication number
WO2019151183A1
WO2019151183A1 PCT/JP2019/002751 JP2019002751W WO2019151183A1 WO 2019151183 A1 WO2019151183 A1 WO 2019151183A1 JP 2019002751 W JP2019002751 W JP 2019002751W WO 2019151183 A1 WO2019151183 A1 WO 2019151183A1
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Prior art keywords
value
parameter
filter
index value
setting
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PCT/JP2019/002751
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English (en)
Japanese (ja)
Inventor
悌 大野
守 恵木
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オムロン株式会社
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Publication of WO2019151183A1 publication Critical patent/WO2019151183A1/fr

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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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a setting support device and a setting support program for supporting the setting of a position command filter in a servo driver.
  • various settings for the position command filter can be performed relatively easily.
  • the user cannot grasp the demerits such as the delay of the position command caused by the change of the filter setting. Therefore, when the above technique is used, it may occur that the delay time of the position command becomes too long and the filter setting needs to be performed again.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a setting support device and a setting support program capable of setting a position command filter in consideration of disadvantages.
  • a setting support device (hereinafter also referred to as a first setting support device) is a position command filter in a servo driver including a first filter having a first parameter.
  • a setting support apparatus for supporting setting wherein the servo driver, a servo motor controlled by the servo driver, and a measurement unit that measures response characteristics of a servo system including a driven body driven by the servo motor; The servo in a plurality of situations in which the value of the first parameter is different based on the response characteristic of the servo system measured by the measuring means and information indicating the operation state of the first filter at the time of measurement of the response characteristic.
  • the first setting support device gives the user a relationship between the first index value (overshoot amount index value) and the second index value (position command time delay amount index value by the position command filter).
  • the graph which shows is shown and it has the structure which makes a user designate the value set to the 1st parameter of the 1st filter in a position command filter. Therefore, if this first setting support device is used, the user can set the position command filter in consideration of the disadvantages.
  • a setting support apparatus (hereinafter also referred to as a second setting support apparatus) according to another aspect of the present invention includes a first filter having a first parameter and a second filter having a second parameter.
  • a setting support apparatus for supporting setting of a position command filter of a servo system which measures response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor Based on the measurement means, the response characteristic of the servo system measured by the measurement means, and the information indicating the operation state of the first filter at the time of measurement of the response characteristic, and the first parameter value and the first parameter Simulating the response characteristics of the servo system in a plurality of situations where the combinations of the two parameter values are different from each other; Based on the simulation result of the response characteristic of the servo system in the situation, the first index value that is the index value of the overshoot amount in each situation and the second index that is the index value of the time delay amount of the
  • the second setting support device provides the user with the first image information indicating the relationship between the first parameter value, the combination of the second parameter value, and the first index value, and the first parameter.
  • Second image information indicating a relationship between a combination of the value of the second parameter and the value of the second parameter and the second index value can be presented. Therefore, if this second setting support apparatus is used, the user can set the two filters in the position command filter in consideration of the disadvantages.
  • the actual setting to the position command filter may be performed using another device.
  • the third and fourth image information is displayed on the screen of the display on the second setting support device so that the position command filter can be set only by an operation on the second setting support device.
  • the user is allowed to specify the first setting value and the second setting value, and the specified first setting value and the second setting value are respectively set to the first parameter of the first filter, the second setting value.
  • the display control means of the second setting support device reads: “As the first image information, the value of the first parameter and the value of the second parameter are one of the vertical axis and the horizontal axis, respectively, A first contour diagram representing the first index value in color or luminance is displayed, and the first parameter value and the second parameter value in the vertical axis and the horizontal axis, respectively, are used as the second image information.
  • a means for displaying the second contour diagram representing the second index value in color or luminance as the other may be used.
  • the setting means reads: “The value of the first parameter corresponding to the position on the first contour diagram or the second contour diagram designated by the user, the second parameter value It may be a means that handles values as the first set value and the second set value, respectively.
  • the specifying means of the second setting support device is: “Furthermore, the first filter value and the second index value in one or more situations where the first filter is disabled, and the second filter is disabled. Means for specifying the first index value and the second index value in one or more situations ”.
  • the second setting support device may include a response characteristic of the servo system measured by the measurement unit when the driven body is in the first state, and the first filter at the time of measuring the response characteristic. Based on the information indicating the operating state, the first index value and the second index value in each of the plurality of situations specified by the specifying means, and the state of the driven body is the first state Is specified by the specifying means based on the response characteristics of the servo system measured by the measuring means when in different second states and information indicating the operating state of the first filter at the time of measuring the response characteristics.
  • Second display control means for displaying fourth image information indicating a relationship between a combination of the first parameter value, the second parameter value, and the worst value of the second index value may be added. good.
  • the second display control means is added to the second setting support device, the value of the first parameter is further displayed to the user while the third and fourth image information is displayed on the screen of the display.
  • the value of the second parameter is designated, and the value of the designated first parameter and the value of the second parameter are designated as the first parameter of the first filter and the second value of the second filter, respectively. You may add the 2nd setting means set to a parameter.
  • the first filter and the second filter in the position command filter may be a low-pass filter and a vibration suppression filter, respectively, and both the first filter and the second filter may be vibration suppression filters.
  • the damping filter is a filter (notch filter or the like) that suppresses fluctuation of the load by shaping a command value and removing a specific frequency.
  • the measuring means of the first and second setting support devices includes the position, speed and acceleration of the motor and the position, speed and acceleration of the driven body as a response to the position command. Any of them may be measured. Further, gain adjusting means for adjusting the gain of the servo driver may be added to the first and second setting support devices.
  • a setting support program is a setting support program for supporting setting of a position command filter in a servo driver, including a first filter having a first parameter, which is stored in a computer connected to the servo driver.
  • a measuring step for measuring a response characteristic of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor, and the servo system measured by the measuring step , And information indicating the operating state of the first filter at the time of measurement of the response characteristic, the response characteristic of the servo system in a plurality of situations where the value of the first parameter is different, Simulate the response characteristics of the servo system in the situation
  • a specifying step for specifying a first index value that is an index value of an overshoot amount in each situation and a second index value that is an index value of a time delay amount of the position command by the position command filter;
  • a graph showing a relationship between the first index value and the second index value
  • a setting support program is a setting support program that supports setting of a position command filter in a servo driver, which includes a first filter having a first parameter and a second filter having a second parameter.
  • a measuring step of measuring response characteristics of a servo system including the servo driver, a servo motor controlled by the servo driver, and a driven body driven by the servo motor in a computer connected to the servo driver; And the value of the first parameter and the value of the second parameter based on the response characteristic of the servo system measured in the measurement step and information indicating the operating state of the first filter at the time of measurement of the response characteristic.
  • the servo system in a plurality of situations with different combinations of values.
  • the response characteristic is simulated, and based on the simulation result of the response characteristic of the servo system in each situation, the first index value that is the index value of the overshoot amount in each situation and the time delay amount of the position command by the position command filter
  • a specifying step of specifying a second index value that is an index value of the first parameter value, and the first parameter value on the display screen based on the first index value and the second index value in each situation specified by the specifying step First image information indicating a relationship between a combination of the first parameter value and the second parameter value and the first index value, and a combination of the first parameter value and the second parameter value and the second index
  • a display control step for displaying second image information indicating a relationship between the values.
  • the setting support program according to each aspect of the present invention is executed by a computer connected to the servo driver, the user can set the position command filter in consideration of the disadvantages.
  • FIG. 1 shows a usage pattern of a setting support apparatus 10 according to an embodiment of the present invention.
  • the setting support apparatus 10 according to the present embodiment is an apparatus that is used by being connected to the servo driver 20.
  • the servo driver 20 to which the setting support device 10 is connected includes a nonvolatile memory 21, a motor drive circuit 22, and a control unit 23.
  • the motor drive circuit 22 is a circuit that supplies a drive current to the motor 41 under the control of the control unit 23.
  • the control unit 23 is a unit composed of a processor (microcontroller, CPU, etc.) and its peripheral elements.
  • the main process executed by the control unit 23 is a motor control process for controlling the motor 41 (motor drive circuit 22) in accordance with a position command input from an external device such as a PLC.
  • the control unit 23 is configured (programmed) so that other processes can also be executed.
  • the nonvolatile memory 21 is a nonvolatile memory capable of rewriting data, such as EEPROM (ElectricallyEErasable and Programmable Read Only Memory).
  • the nonvolatile memory 21 stores various parameters used by the control unit 23 during motor control processing.
  • control unit 23 and the nonvolatile memory 21 of the servo driver 20 will be described more specifically.
  • FIG. 2 the functional block diagram regarding the motor control processing function of the control part 23 is shown.
  • the control unit 23 is configured (programmed) to function as a unit including a position command filter 31, a position controller 33, a speed controller 35, a current controller 36, and a speed detector 37. ing.
  • the position command filter 31 is a digital filter for filtering the position command. As shown in FIG. 3, the position command filter 31 includes a low-pass filter 31a, a damping filter 31b, and a damping filter 31c connected in series. Note that the vibration suppression filter 31b is a filter (for example, a notch filter) that suppresses fluctuation of the load by shaping a command value and removing a specific frequency.
  • the position controller 33 (FIG. 2) is a speed corresponding to a deviation between the position command filtered by the position command filter 31 and the position of the motor 41 (position of the rotating shaft of the motor 41) detected by the encoder 43.
  • the speed detector 37 is a unit that detects the speed of the motor 41 by differentiating the position of the motor 41 detected by the encoder 43.
  • the speed controller 35 is a unit that generates a current command corresponding to a deviation between the speed command generated by the position controller 33 and the speed detected by the speed detector 37.
  • the current controller 36 is a unit that generates a control signal (in this embodiment, a PWM signal) for supplying a current according to a current command from the speed controller 35 to the motor 41 and supplies it to the motor drive circuit 22. is there.
  • the nonvolatile memory 21 stores set values of parameters (center frequency, cutoff frequency, etc.) of each filter, and whether each filter is used (whether each filter is enabled or disabled). Yes.
  • the nonvolatile memory 21 also stores parameters (position proportional gain, speed proportional gain, etc.) relating to the position controller 33 and the speed controller 35, and the control unit 23 includes a position command filter 31, a position controller 33, and the like. The content of the processing to be actually performed is determined based on the information stored in the nonvolatile memory 21.
  • the control unit 23 also performs a motor control process while returning the position detected by the encoder 43 to an external device that is a position command supply source, units requested by the external device (filters 31a to 31c, position control).
  • a function of returning information on the non-volatile memory 21 to the external device, a function of rewriting information on the non-volatile memory 21 about the unit designated by the external device to information designated by the external device, etc. also have.
  • FIG. 4 shows a configuration of the setting support apparatus 10 according to the present embodiment.
  • the setting support apparatus 10 is configured to load a setting support program from the CD-ROM 18 into a computer including a communication interface (communication I / F) for communicating with the CPU 11, the HDD 12, and the servo driver 20. 15 is a device installed.
  • FIG. 5 shows a flowchart of the setting support process executed by the CPU 11 in accordance with the setting support program 15.
  • the CPU 11 performs a process of displaying a menu screen on the display (step S102).
  • the menu screen displayed in the process of this step is basically a screen for allowing the user to select which of the first to third setting processes and the gain adjustment process is to be executed.
  • the second and third setting processes are processes that require the two filters 31x in the position command filter 31 to be designated as processing target filters.
  • the first to third designation processes are processes that can designate whether or not to perform simulation even when the position command filter is invalid. Therefore, an item for setting such information is also provided on the menu screen.
  • step S101 the CPU 11 waits for an instruction to execute any setting process or an instruction to end the setting support process (the process in FIG. 5) to be input by operating the input device (keyboard, mouse, etc.). (Step S103).
  • step S104 When an execution instruction for any one of the first to third setting processes and the gain adjustment process is input (step S104; execution instruction), the CPU 11 executes the process instructed to execute (step S105). . Thereafter, the CPU 11 returns to step S102 to display the menu screen on the display again. Then, the CPU 11 ends the setting support process when an instruction to end the setting support process is input (step S105; end).
  • step S105 The gain adjustment process executed in step S105 is the same process as the existing gain adjustment process. Therefore, detailed description of the gain adjustment process is omitted.
  • FIG. 6 shows a flowchart of the first setting process.
  • the CPU 11 that has started the first setting process first supplies a response to each position command (output of the encoder 43) to the servo driver 20 while supplying a position command that changes with time in a predetermined pattern to the servo driver 20.
  • the response characteristic of the servo system is measured (step S201).
  • the servo system is a system including the servo driver 20, the motor 41, and the machine 42 driven by the motor 41.
  • the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations where the parameter values of the processing target filter are different based on the measured response characteristics and filter state information (step S202).
  • step S202 The processing in step S202 is performed assuming that the servo driver 20 is a linear system. Specifically, when the filter state information indicates that the processing target filter is invalid, in step S202, the transfer function of the processing target filter of various parameter values is applied to the measured response characteristics. The response characteristics of the servo system in a plurality of virtual situations are required. If the filter state information indicates that the processing target filter is valid, in step S202, first, from the parameter value of the processing target filter at the time of response characteristic measurement (the value included in the filter state information). Then, an inverse transfer function of the transfer function of the processing target filter at the time of response characteristic measurement is obtained.
  • the response characteristic of the servo system when the processing target filter is invalid is obtained.
  • the response characteristics of the servo system in a plurality of virtual situations can be obtained by applying the transfer function of the processing target filter of various parameter values to the response characteristics thus obtained.
  • CPU11 which finished the process of step S202 specifies the instruction
  • the overshoot amount specified by the processing in this step is “maximum value of response after position command becomes final value ⁇ final value of position command”.
  • the command delay time specified in the process of step S203 is a time delay amount of the position command by the position command filter 31.
  • step S204 the graph displayed in the processing of this step is a graph in which a pointer (white circle in FIG. 8) for designating one point is displayed on the graph.
  • the CPU 11 sets a predetermined coordinate position at the command delay time and the overshoot amount when the processing target filter is invalid. Display the graph with the mark.
  • the setting instruction operation is a predetermined operation including an operation of changing the pointer position on the graph to a desired position by a mouse drag and drop operation or the like.
  • step S206 When a setting instruction operation is performed by the user (step S206; setting), the CPU 11 sets a parameter value corresponding to the pointer position designated by the user in the processing target filter (step S207). More specifically, the CPU 11 rewrites the parameter value of the processing target filter on the nonvolatile memory 21 with the parameter value corresponding to the pointer position by communicating with the servo driver 20 (control unit 23). . In step S207, the CPU 11 also performs processing for updating the parameter value of the processing target filter in the filter state information to the parameter value corresponding to the pointer position. Then, the CPU 11 ends this first setting process.
  • step S206 when an end instruction operation is performed by the user (step S206; end), the CPU 11 ends the first setting process without performing the process of step S207. Then, after completing the first setting process, the CPU 11 starts again the processes after step S102 (FIG. 2).
  • FIG. 9 shows a flowchart of the second setting process.
  • the CPU 11 that has started the second setting process first performs the same process as the process of step S101 described above in step S201.
  • Step S302 the CPU 11 simulates the response characteristics of the servo system in a plurality of virtual situations in which the combinations of the two parameter values of the two processing target filters designated by the user are different from each other based on the measured response characteristics and the filter state information.
  • the process of step S302 is the same process as the process of step S202 described above except that the number of transfer functions (and inverse transfer functions) used is two.
  • the CPU 11 specifies the command delay time and the overshoot amount in each virtual situation from each response characteristic obtained in the process of step S302 (step S303).
  • the CPU 11 displays a command delay time contour diagram (hereinafter referred to as a DT contour diagram) and an overshoot amount contour diagram (hereinafter referred to as an OS contour diagram) on the display screen (step S304).
  • step S304 the CPU 11 displays a DT contour diagram as shown in FIG. 10 on the display screen. And OS contour map are displayed. That is, the CPU 11 sets the LPF frequency, which is the parameter value of the low-pass filter 31a, as the horizontal axis, the damping control frequency, which is the parameter value of the damping filter 31b or 31c, as the vertical axis, and the overshoot amount as a color (in FIG. ) And the OS contour map expressed in () are displayed on the display screen.
  • step S304 the CPU 11 also performs a process of displaying a pointer (white circle in FIG. 10) at the same coordinate position in each contour diagram.
  • the CPU 11 determines the command delay time when one of the processing target filters is invalid and when both the processing target filters are invalid.
  • DT contour diagram is also shown, and an OS contour diagram showing the amount of overshoot when one of the processing target filters is invalid and when both processing target filters are invalid are displayed.
  • CPU11 which finished the process of step S304 (FIG. 9) waits for a user to perform setting instruction
  • indication operation (step S305).
  • the setting instruction operation is a predetermined operation including an operation of changing the position of the pointer to a desired position by a mouse drag and drop operation or the like. Note that when an operation for changing the position of the pointer on one contour diagram is performed, the CPU 11 also changes the position of the pointer on the other contour diagram.
  • the CPU 11 sets two parameter values corresponding to the position of the pointer at that time in the two processing target filters (step S310). More specifically, for example, when the processing target filters are the low-pass filter 31a and the vibration suppression filter 31b (see FIG. 10), the CPU 11 communicates with the servo driver 20 (the control unit 23), so that the pointer X The parameter value of the low-pass filter 31a on the nonvolatile memory 21 is rewritten with the coordinate value, and the parameter value of the vibration suppression filter 31b on the nonvolatile memory 21 is rewritten with the Y coordinate value of the pointer.
  • step S310 the CPU 11 also performs a process of updating the parameter values of the two processing target filters in the filter state information to the current values. And CPU11 which finished the process of step S310 complete
  • the display form change instruction operation is an operation of designating one point on the X axis or the Y axis of any contour diagram (see FIG. 10).
  • the parameter value of the axis for which one point is designated is referred to as a non-attention parameter
  • the parameter value at the point designated by the user is referred to as a designated value.
  • step S306 When the display form change instruction operation is performed (step S306; display form change), the CPU 11 displays a graph showing the relationship between the command delay time and the overshoot amount when the value of the non-attention parameter is a specified value. It is displayed on the screen (step S307). That is, the CPU 11 has a low-pass filter 31a and a vibration suppression filter 31b as processing target filters (see FIG. 10), and when one point on the X-axis of any contour diagram is designated, the cutoff frequency of the low-pass filter 31a.
  • a graph showing the relationship between the command delay time and the overshoot amount in the case where is the frequency of the designated point for example, a graph as shown in FIG. 11A is displayed on the display screen.
  • the vibration suppression control frequency of the vibration suppression filter 31b is specified.
  • a graph showing the relationship between the command delay time and the overshoot amount, for example, a graph as shown in FIG. 11B is displayed on the display screen.
  • a pointer is also displayed on the graph displayed by the CPU 11 in step S307.
  • step S307 the CPU 11 waits for the user to perform a setting instruction operation or an end instruction operation including an operation of changing the pointer position on the graph to a desired position by a mouse drag and drop operation or the like (step S307). S308).
  • step S309; end the CPU 11 executes the processes after step S304 again.
  • step S309 when a setting instruction operation is performed by the user (step S309; setting), the CPU 11 sets each of the two parameter values specified by the user through the display form change instruction operation and the pointer operation in the corresponding processing target filter ( Step S310).
  • the CPU 11 also performs a process for updating the filter state information (step S310).
  • CPU11 which finished the process of step S310 starts the process after step S304.
  • step S306 when an end instruction operation is performed during display of the DT contour diagram and the OS contour diagram (step S306; end), the CPU 11 ends the second setting process and performs the setting support process (FIG. 5). The process after step S102 is started.
  • FIG. 12 shows a flowchart of the third setting process.
  • the CPU 11 that has started the third setting process first performs a specified process such as a command delay time in step S401.
  • This specifying process such as the command delay time is the same as the process in steps S301 to S303 of the second setting process (FIG. 9).
  • the CPU 11 that has completed the specified process such as the command delay time displays a message indicating that the specified process such as the command delay time has been completed on the display screen, and then waits for a measurement start instruction to be input (step S402).
  • the user of the setting support apparatus 10 performs an operation of changing the state of the machine 45 (a state related to the inertia value) and then inputs a measurement start instruction.
  • step S403 the CPU 11 again performs the specific process such as the command delay time, which is the same as the process in steps S301 to S303 of the second setting process.
  • step S404 the CPU 11 that has finished the process of step S403 first calculates the command delay time for each virtual situation from the command delay time and the overshoot amount specified in the two specific processing processes such as the command delay time.
  • the worst value is specified for the worst value and the overshoot amount.
  • the CPU 11 displays a command delay time worst value contour diagram (hereinafter referred to as a DTW contour diagram) and an overshoot amount worst value contour diagram (hereinafter referred to as an OSW contour diagram) on a display screen.
  • a command delay time worst value contour diagram hereinafter referred to as a DTW contour diagram
  • an overshoot amount worst value contour diagram hereinafter referred to as an OSW contour diagram
  • the DTW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the command delay time is expressed in color. It is.
  • the OSW contour diagram is a contour diagram in which the parameter value of one processing target filter is on the horizontal axis, the parameter value of the other processing target filter is on the vertical axis, and the worst value of the overshoot amount is expressed in color. is there.
  • the processing target filters are the low-pass filter 31a and the vibration suppression filter 31b
  • the result that the OS contour diagram is as shown in FIG. 13A is obtained in the specific processing such as the command delay time in step S401.
  • the OS contour diagram becomes the one shown in FIG. 13B is obtained by the specific processing such as the command delay time in step S403
  • the OSW contour diagram is as shown in FIG. 13C. Things are displayed.
  • the CPU 11 displays a DT contour diagram as a DTW contour diagram without obtaining the worst value of the command delay time.
  • the CPU 11 specifies the worst value of the command delay time and the worst value of the overshoot amount for each virtual situation, and based on the identification results. For example, an OSW contour diagram and a DTW contour diagram as shown in FIG. 14 are displayed on the screen of the display.
  • step S404 the CPU 11 performs the same process as the process of steps S305 to S310 of the second setting process (FIG. 9) in steps S405 to S410, and performs an end instruction operation.
  • step S406; end the third setting process is ended, and the process after step S102 of the setting support process (FIG. 5) is started.
  • the setting support apparatus 10 presents the graph (FIG. 8) showing the relationship between the overshoot amount and the command delay time to the user, and the processing target in the position command filter
  • a first setting process that allows the user to specify a parameter value to be set in the filter can be executed.
  • the setting support apparatus 10 gives the user an OS contour diagram showing the relationship between the parameter value combination of the two processing target filter and the overshoot amount, and the relationship between the parameter value combination of the two processing target filter and the command delay time.
  • a DT contour diagram (FIG. 10) to be shown can be presented, and the second setting process can be executed to allow the user to specify parameter values to be set in the two process target filters in the position command filter.
  • the setting support device 10 presents the OSW contour diagram indicating the worst value of the overshoot amount and the DTW contour diagram (FIG. 14) indicating the worst value of the command delay time to the user, and performs two processing targets in the position command filter. It is also possible to execute a third setting process that allows the user to specify a parameter value to be set in the filter. Therefore, if the setting support device 10 is used, the user can set one or two filters in the position command filter 31 in consideration of the disadvantages.
  • the setting support device 10 is configured to be able to execute gain adjustment processing (FIG. 5; S105). Therefore, according to the setting support device 10, when vibration occurs in the gain adjustment process or before the gain adjustment process, the position command filter 31 is adjusted to a state where vibration can be suppressed, and then the gain of the servo driver 20 is increased. Adjustment / readjustment can be performed.
  • the above-described setting support device 10 can perform various modifications.
  • information to be presented to the user by a graph / contour diagram includes an overshoot amount index value (a value indicating the amount of overshoot amount) and a position command time delay index value by the position command filter (by the position command filter). It may be a value representing the length of the time delay amount of the position command. Therefore, instead of the overshoot amount, the maximum value of the response to the position command input may be adopted. Further, a settling time or the like may be employed instead of the command delay time described above.
  • the setting function for the parameter value processing target filter may be removed from the setting support apparatus 10 so that the parameter value processing target filter is set by a device different from the setting support apparatus 10.
  • the first setting process (FIG. 6) is transformed into a process for displaying the parameter value at the pointer position, and the second and third setting processes are changed to setting instructions. It may be transformed into a process that does not accept.
  • the information acquired from the servo driver 20 in order for the setting support apparatus 10 to obtain response characteristics may be the speed and acceleration of the motor 41 or the position, speed or acceleration of the machine 42.
  • the position of the motor 41 (PosMotor) changes with little overshoot with respect to the position command (“PosCmd")
  • the position of the machine 42 (PosLoad” ") Can vibrate. Therefore, the first to third setting processes may be modified into a process for presenting the amount of overshoot of the position of the machine 42 to the user.
  • the configuration of the setting support device 10 and the servo driver 20 may be different from those described above, or the contour diagram of the setting support device 10 having a form different from that described above (for example, an isoline is displayed. Of course, it may be modified to display a contour diagram).
  • Setting Support Device 11
  • CPU 12 HDD 15
  • Setting support program 18
  • CD-ROM DESCRIPTION OF SYMBOLS 20
  • Servo driver 21
  • Non-volatile memory 22
  • Motor drive circuit 23
  • Control part 31a Low pass filter
  • Position command filter 31b
  • 31c Damping filter 33
  • Speed controller 35
  • Speed controller 36
  • Current controller 37
  • Speed detector 41

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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  • Feedback Control In General (AREA)

Abstract

L'invention concerne un dispositif d'aide au réglage avec lequel des réglages pour un filtre de commande de position peuvent être effectués tout en tenant compte des inconvénients. Ce dispositif d'aide au réglage est configuré de façon à simuler une caractéristique de réponse d'un système d'asservissement dans chaque environnement d'une pluralité d'environnements virtuels dans lesquels un réglage pour un filtre de commande de position diffère, sur la base d'un résultat de mesure pour la caractéristique de réponse du système d'asservissement, à présenter un graphique montrant une relation entre une valeur d'indice d'une quantité de dépassement et une valeur d'indice d'un temps de retard dans une commande de position par le filtre de commande de position, et à permettre à un utilisateur d'effectuer un réglage pour le filtre de commande de position.
PCT/JP2019/002751 2018-02-01 2019-01-28 Dispositif et programme d'aide au réglage WO2019151183A1 (fr)

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CN110690840A (zh) * 2019-11-01 2020-01-14 北京亿佳科技有限公司 电机参数确定方法、装置、计算机设备和存储介质

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JP7261755B2 (ja) 2020-02-04 2023-04-20 株式会社日立産機システム モータ制御装置
JP2023005630A (ja) * 2021-06-29 2023-01-18 株式会社日立産機システム モータ制御装置

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JP2017167607A (ja) * 2016-03-14 2017-09-21 オムロン株式会社 設定支援装置、設定支援方法、情報処理プログラム、および記録媒体

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JP2017167607A (ja) * 2016-03-14 2017-09-21 オムロン株式会社 設定支援装置、設定支援方法、情報処理プログラム、および記録媒体

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110690840A (zh) * 2019-11-01 2020-01-14 北京亿佳科技有限公司 电机参数确定方法、装置、计算机设备和存储介质

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