WO2024122066A1 - Dispositif de réglage de paramètre et support d'enregistrement lisible par ordinateur - Google Patents

Dispositif de réglage de paramètre et support d'enregistrement lisible par ordinateur Download PDF

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WO2024122066A1
WO2024122066A1 PCT/JP2022/045553 JP2022045553W WO2024122066A1 WO 2024122066 A1 WO2024122066 A1 WO 2024122066A1 JP 2022045553 W JP2022045553 W JP 2022045553W WO 2024122066 A1 WO2024122066 A1 WO 2024122066A1
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range
index value
control
control parameter
unit
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PCT/JP2022/045553
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English (en)
Japanese (ja)
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俊祐 青木
友一 萱沼
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ファナック株式会社
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Priority to PCT/JP2022/045553 priority Critical patent/WO2024122066A1/fr
Publication of WO2024122066A1 publication Critical patent/WO2024122066A1/fr

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  • the present disclosure relates to a parameter adjustment device and a computer-readable recording medium.
  • One method for adjusting the control parameters that are set when controlling industrial machinery is to utilize simulation.
  • a predetermined first range is first determined for the control parameters, and a simulation is repeatedly performed while changing the value of the control parameters within the first range.
  • candidates for the optimal value of the control parameters are extracted based on the results of the simulation.
  • a predetermined second range is determined in the vicinity of each candidate value of the extracted control parameters.
  • the machine is repeatedly operated while adjusting the control parameters within the second range. Based on the results of this operation, the optimal value of the control parameters is determined (for example, Patent Document 1, etc.).
  • search range of the control parameters is set too narrow, there is a possibility that appropriate control parameters will not be obtained.
  • search range of the control parameters is set too wide, it will take a long time to perform simulation calculations and work using the machine. In particular, adjusting the control parameters by actually operating the machine places a heavy burden on the worker. Therefore, there is a need for a technique that can appropriately narrow down the search range of control parameters.
  • One aspect of the present disclosure is a parameter adjustment device including: a controlled object model that models the operation of each part of an industrial machine that is a controlled object; a simulation unit that simulates the operation of the controlled object, to which a predetermined control parameter value is set, based on the controlled object model; a first search unit that repeatedly causes the simulation unit to perform a simulation process while changing the value of the control parameter within a predetermined first range, and searches for a candidate set of values of the control parameters that will result in the first index value near the boundary of a predetermined constraint condition, based on a first index value calculated from the result of the simulation process; a candidate implementation unit that sets the candidate set of values of the control parameters searched by the first search unit as the controlled object, verifies the operation, and calculates a second index value based on the result of the operation verification; and a search range determination unit that determines a second range that is a range of values narrower than the first range, based on the first index value and the second index value.
  • FIG. 2 is a schematic hardware configuration diagram of the parameter adjustment device according to the first embodiment of the present disclosure.
  • FIG. 1 is a schematic block diagram showing functions of a parameter adjustment device according to a first embodiment of the present disclosure.
  • 11 is a flowchart showing an overall flow of a process relating to preparation for a search.
  • 13 is a flowchart showing a schematic flow of a first search process.
  • 13 is a flowchart showing a schematic flow of a second range determination process.
  • 13 is a flowchart showing a schematic flow of a second search process.
  • FIG. 1 is a schematic hardware configuration diagram showing a main part of a parameter adjustment device according to an embodiment of the present disclosure.
  • the parameter adjustment device 1 can be implemented, for example, as a control device that controls an industrial machine based on a control program.
  • the parameter adjustment device 1 can also be implemented, for example, as a personal computer installed together with a control device that controls an industrial machine, or as another computer such as a computer, a fog computer, or a cloud server connected to the control device via a wired/wireless network.
  • an example is shown in which the parameter adjustment device 1 is implemented as a computer connected to a control device that controls an industrial machine 4 via a network 5.
  • the CPU 11 provided in the parameter adjustment device 1 is a processor that controls the entire parameter adjustment device 1.
  • the CPU 11 reads the system program stored in the ROM 12 via the bus 22, and controls the entire parameter adjustment device 1 in accordance with the system program.
  • the RAM 13 temporarily stores temporary calculation data, display data, and various data input from outside.
  • the non-volatile memory 14 is composed of, for example, a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and the memory state is maintained even when the power supply of the parameter adjustment device 1 is turned off.
  • the non-volatile memory 14 stores programs and data read from the external device 72 via the interface 15, programs and data input via the input device 71, programs and data acquired from the industrial machine 4 or other devices via the network 5, etc.
  • the stored data may include, for example, data related to physical quantities such as motor current, voltage, torque, position, speed, and acceleration of the drive unit detected by the sensor 8 attached to the industrial machine 4.
  • the programs and data stored in the non-volatile memory 14 may be expanded into the RAM 13 when executed/used.
  • various system programs such as known analysis programs are written in advance in the ROM 12.
  • the interface 15 is an interface for connecting the CPU 11 of the parameter adjustment device 1 to an external device 72 such as a USB device.
  • an external device 72 such as a USB device.
  • system programs, programs related to the operation of the industrial machine 4, setting data, etc. are read from the external device 72.
  • programs and setting data created and edited within the parameter adjustment device 1 can be stored in an external storage means via the external device 72.
  • the interface 20 is an interface for connecting the CPU 11 of the parameter adjustment device 1 to a wired or wireless network 5.
  • the network 5 may communicate using technologies such as serial communication such as RS-485, Ethernet (registered trademark), optical communication, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc.
  • the network 5 is connected to a control device that controls the industrial machines 4, a fog computer 6, a cloud server 7, etc., and exchanges data with the parameter adjustment device 1.
  • the display device 70 displays the various data loaded into the memory, data obtained as a result of executing programs, etc., output via the interface 17.
  • the input device 71 which is comprised of a keyboard, pointing device, etc., passes instructions and data based on operations by the operator to the CPU 11 via the interface 18.
  • FIG. 2 is a schematic block diagram showing the functions of the parameter adjustment device 1 according to the first embodiment of the present disclosure.
  • Each function of the parameter adjustment device 1 according to this embodiment is realized by the CPU 11 of the parameter adjustment device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the parameter adjustment device 1.
  • the parameter adjustment device 1 of this embodiment includes a simulation unit 100, a first search unit 110, a candidate implementation unit 120, a search range determination unit 130, a second search unit 140, and an output unit 150.
  • the RAM 13 to the non-volatile memory 14 of the parameter adjustment device 1 also include a model storage unit 210, which is an area in which a control target model that models the operation of the industrial machine 4 to be controlled is stored in advance.
  • the RAM 13 to the non-volatile memory 14 of the parameter adjustment device 1 also include an evaluation program 220 used for simulation processing and operation control of the actual control target.
  • the simulation unit 100 executes a predetermined simulation process to simulate the operation of the controlled object based on the controlled object model stored in the model storage unit 210.
  • the controlled object model stored in the model storage unit 210 models the operation of each part of the industrial machine 4, including drive parts such as servo motors, transmission parts such as ball screws, and movable parts such as tables.
  • the controlled object model is expressed by mathematical expressions, transfer functions, block diagrams, etc. that reflect the characteristics of the industrial machine 4, which is the controlled object. By preparing the controlled object model, it is possible to simulate the operation of the industrial machine 4, which is the controlled object.
  • the simulation process executed by the simulation unit 100 virtually executes the operation of the industrial machine 4, which is the controlled object, when specific command information is issued to the industrial machine 4, by calculation based on a controlled object model.
  • virtual feedback information of the industrial machine 4, which is the controlled object is generated.
  • the virtual feedback information include virtual physical quantities related to the operation of the industrial machine 4, such as the position, speed, acceleration, and torque of the motor for each operating cycle.
  • the simulation unit 100 When performing simulation processing, the simulation unit 100 reflects the given control parameters in the calculations related to the controlled object model.
  • the control parameters differ depending on the type of industrial machine 4 to be controlled.
  • the control parameters include setting values related to each motor, such as linear acceleration, linear jerk, corner speed difference, post-interpolation acceleration/deceleration time constant, speed gain, position loop gain, and feedforward coefficient.
  • setting values related to the power supply such as electric discharge machining pulse voltage and electric discharge machining current, are also included.
  • the first search unit 110 repeatedly performs simulation processing by the simulation unit 100 while varying the control parameter within a first range related to the control parameter. Then, based on the results of the simulation processing, the first search unit 110 searches for a most suitable set of control parameter values within the first range in which a predetermined index value satisfies a predetermined constraint condition, and a set of control parameter values in the vicinity of the most suitable set of control parameter values, as candidates for the set of control parameter values.
  • the predetermined index value is an index used for constraints and evaluations related to the operation results of the controlled object. Examples of index values include machining accuracy (machining error), machining surface quality (position deviation, vibration), machining time (cycle time), etc.
  • the first range is the range of values that each control parameter in the simulation process can take.
  • the first range may be set by the operator, or may be determined according to a predetermined rule based on the specifications of the industrial machine 4 to be controlled and the command information included in the evaluation program 220 used in the simulation.
  • the first range is a predetermined range in which an index value used to evaluate the results of the simulation process can be calculated. Since the first range is a search range in the simulation process by the simulation unit 100, there is no problem in setting it to a relatively wide range.
  • the first range may be the minimum to maximum values that can be set for each control parameter, or the range of values that can be set based on the command information.
  • the first search unit 110 causes the simulation unit 100 to execute a simulation process based on predetermined command information included in the evaluation program 220 while changing the values of each control parameter within a first range. As a result, virtual feedback information is obtained, and a predetermined index value is evaluated based on the obtained virtual feedback information.
  • the first search unit 110 executes this process using a known algorithm, such as machine learning search such as reinforcement learning and Bayesian optimization, rule-based search, or a predetermined full search algorithm. When appropriate constraint conditions and evaluation methods are set, the search by the first search unit 110 results in a set of values of at least one or more control parameters near the boundaries of the constraint conditions.
  • the first search unit 110 may store the results of the simulation process (index value), the judgment results of the constraint conditions, and the evaluation results for the sets of values of the control parameters evaluated.
  • the first search unit 110 outputs to the candidate implementation unit 120 a set of the best control parameter values within a range that satisfies one set of constraint conditions, or a set of two control parameter values that are near the boundary of the constraint conditions, where a first set of control parameter values that satisfies the constraint conditions and a second set of control parameter values that do not satisfy the constraint conditions.
  • the candidate implementation unit 120 sets the set of control parameter values near the boundary of the constraint condition found by the first search unit 110 for the industrial machine 4 to be controlled, and commands it to perform operation verification based on the command information included in the evaluation program 220. Then, as a result of this operation, feedback information related to the operation is obtained from the industrial machine 4. Then, an index value is calculated to evaluate the obtained feedback information.
  • the search range determination unit 130 determines a second range by correcting the first range based on the results of the operation verification performed by the candidate implementation unit 120 on the industrial machine 4, which is the actual control target, for the set of control parameter values near the boundary of the constraint condition searched for by the first search unit 110.
  • the search range determination unit 130 may determine a predetermined range based on the set of control parameter values as the second range.
  • the second range may be a range from the lower limit of the first range for each control parameter to the value of the control parameter near the boundary of the constraint condition.
  • the second range may be a range from the upper limit of the first range for each control parameter to the value of the control parameter near the boundary of the constraint condition.
  • the second range of the values of each control parameter may be determined in a direction that satisfies the constraint condition based on the value of the control parameter near the boundary of the constraint condition.
  • the second range may be determined in a direction that improves the evaluation based on the value of the control parameter near the boundary of the constraint condition.
  • the search range determination unit 130 may determine the second range based on the results of simulating the sets of control parameter values near the boundary of the constraint condition and the results of operational verification of the industrial machine 4 that is the actual control target. For example, when the results of operational verification of the industrial machine 4 that is the actual control target show that the constraint condition is satisfied when operated with any set of control parameter values, the search range determination unit 130 calculates the difference in index value between the results of simulating the second set of control parameter values and the results of operational verification of the industrial machine 4 that is the actual control target as the modeling error.
  • a third set of control parameter values that does not satisfy the constraint condition is selected from the sets of control parameter values searched by the first search unit 110. Then, the range between the selected set of third control parameter values and the set of second control parameter values may be determined as the second range.
  • the range between the first set of control parameter values and the second set of control parameter values can be defined as the second range.
  • the search range determination unit 130 calculates the difference in index values between the results of the simulation process for the first set of control parameter values and the results of operational verification on the industrial machine 4, which is the actual controlled object, as a modeling error.
  • a third set of control parameter values that satisfies the constraint conditions is selected from the sets of control parameter values searched by the first search unit 110. Then, the range between the selected set of third control parameter values and the set of first control parameter values can be determined as the second range.
  • the second search unit 140 searches for a suitable set of control parameters while changing the control parameters within the second range determined by the search range determination unit 130.
  • the second search unit 140 according to this embodiment repeatedly operates the industrial machine 4, which is the actual control target, according to the command information included in the evaluation program 220. Then, based on the result of the operation of the industrial machine 4, which is the actual control target, searches for the most suitable set of control parameter values within the second range in which the index value satisfies the constraint condition.
  • the second search unit 140 executes this process using known algorithms such as machine learning search such as reinforcement learning and Bayesian optimization, rule-based search, and a predetermined full search algorithm.
  • the second search unit 140 operates the industrial machine 4, which is the actual control target, and calculates an index value from the operation result.
  • the operation of the industrial machine 4 for which a set of control parameter values is set takes the same time as the actual cycle time. However, since the second range determined by the search range determination unit 130 is sufficiently narrow compared to the first range, the search does not take an enormous amount of time.
  • the second search unit 140 searches for the best set of control parameter values that satisfies at least one set of constraint conditions. The second search unit 140 outputs the searched set of control parameter values to the output unit 150.
  • the output unit 150 outputs the set of control parameter values searched by the second search unit 140 to a specified device, equipment, etc.
  • the output unit 150 may, for example, display the set of control parameter values on the display device 70, or record them in a specified area provided on the non-volatile memory 14.
  • the set of control parameter values may be sent to the control device of the industrial machine 4 for setting, or may be sent to a higher-level computer such as the fog computer 6 or cloud server 7.
  • FIGS. 1 A specific example of the operation of the parameter adjustment device 1 according to this embodiment having the above configuration will be described with reference to FIGS.
  • the case where the industrial machine 4 is a machine tool that operates each axis with a servo motor is considered.
  • the linear acceleration [mm/sec 2 ] and corner speed difference [mm/sec] of each axis of the industrial machine 4 are the control parameters to be searched.
  • the maximum value of the machining error and the cycle time are selected as index values, and the maximum value of the machining error is set to be equal to or less than a predetermined target error as a constraint condition, and the shorter the cycle time, the more preferable the evaluation method is.
  • the machining surface quality may be used as the index value, and in that case, a predetermined value of the machining surface quality may be set as a constraint condition.
  • the machining error and the cycle time are in a trade-off relationship. If the machining error is reduced, the cycle time tends to increase, and if the cycle time is reduced, the machining error increases. When the machining error is within the target error, there is a solution that minimizes the cycle time in a set of values of any of the control parameters that are near the boundary.
  • FIG. 3 is a flowchart showing an outline of a process for preparing a search.
  • the simulation unit 100 reads out from the model storage unit 210 a model of a machine tool that operates each axis with a servo motor in accordance with an instruction from an operator (step SA01).
  • the first search unit 110 selects linear acceleration and corner speed difference as control parameters to be searched in accordance with an instruction from the operator (step SA02).
  • the machining error is set to a target error of 10 ⁇ m or less, and as an evaluation method, the shorter the cycle time, the higher the evaluation (step SA03).
  • the first search unit 110 sets a first range for each control parameter (step SA04).
  • the first range is set to 10 to 10,000 [mm/sec 2 ] for the linear acceleration and 10 to 5,000 [mm/sec] for the corner speed difference. This setting may be made according to an operator's instruction.
  • the maximum and minimum values of each control parameter may be inquired of the control device of the industrial machine 4 to be controlled, and the maximum and minimum values may be set according to the response.
  • FIG. 4 is a flowchart showing a schematic flow of the first search process.
  • the first search unit 110 selects initial values from the first range for each control parameter and sets them for the simulation model read by the simulation unit 100 (step SB01).
  • the first search unit 110 sets the evaluation program 220 to be executed in the simulation process for the simulation unit 100 (step SB02).
  • the first search unit 110 instructs the selected simulation model to execute the simulation process with the set control parameter values.
  • the simulation unit 100 executes the simulation process according to the command of the first search unit 110 (step SB03).
  • the first search unit 110 acquires the process result from the simulation unit 100 (step SB04).
  • the acquired process result is the machining path and cycle time used to calculate the index value.
  • the first search unit 110 calculates the index value based on the acquired process result (step SB05).
  • the machining error which is the index value, can be calculated as the maximum value of the difference between the path commanded by the command information and the machining path in the virtual machining in the simulation process.
  • the cycle time acquired as the processing result is used as the index value as it is.
  • step SB06 If the search of the first range is not completed at this point (No in step SB06), the first search unit 110 adjusts the value of the control parameter and sets it to the simulation model (step SB07). Then, the process proceeds to step SB03. On the other hand, if the search of the first range is completed at this point (Yes in step SB06), control parameters that are near the boundary of the constraint condition are selected as candidates from the searched control parameters (step SB08).
  • the processes in steps SB03 to SB07 are performed using a known search algorithm such as machine learning search, rule-based search, a predetermined full search algorithm, or Bayesian optimization, as described above.
  • FIG. 5 is a flowchart showing a schematic flow of the second range determination process.
  • the candidate implementation unit 120 sets the control parameter values of the selected candidates for the industrial machine 4 that is the actual control target, performs operation verification based on the command information included in the evaluation program 220, and obtains the operation results when the industrial machine 4 is operated with each candidate set of control parameter values (step SC01).
  • the operation results to be obtained are the machining path and cycle time used to calculate the index value.
  • the candidate implementation unit 120 calculates the index value based on the obtained operation results (step SC02).
  • the machining error which is the index value, can be calculated as the maximum value of the difference between the path commanded by the command information and the actual machining path.
  • the cycle time obtained as the processing result is used as it is as the index value.
  • the search range determination unit 130 determines a second range obtained by correcting the first range based on the index value calculated by the candidate implementation unit 120 (step SC03). For example, suppose that the first control parameter value set A is set to the industrial machine 4, which is the actual control target, and the operation is verified, resulting in a machining error as an index value of 12 [ ⁇ m]. Also, suppose that the second control parameter value set B is set to the industrial machine 4, which is the actual control target, and the operation is verified, resulting in a machining error as an index value of 14 [ ⁇ m]. This does not satisfy the constraint condition in either the first control parameter value set or the second control parameter value set.
  • the search range determination unit 130 calculates the difference in the index value between the processing result of the simulation processing for the first control parameter value set A and the result of the operation verification on the industrial machine 4, which is the actual control target.
  • the machining error is 9 [ ⁇ m].
  • the machining error as an index value is 12 [ ⁇ m]
  • the difference is 3 [ ⁇ m]. This value is estimated to be a modeling error that occurred when the industrial machine, which is the actual controlled object, was modeled.
  • candidates for the set of control parameter values that take into account the constraint conditions and the modeling error are reselected.
  • the target error set as the constraint condition is 10 [ ⁇ m]
  • the modeling error is 3 [ ⁇ m]
  • the set of control parameter values that has the shortest cycle time is selected as the third set of control parameter values C.
  • the candidate implementation unit 120 performs operation verification of the third control parameter value set C on the industrial machine 4 that is the actual control target. Then, if the index value calculated from the verification result satisfies the constraint condition, the range between the third control parameter value set C and the first control parameter value set A may be determined as the second range.
  • a control parameter value set with a smaller machining error may be reselected as the third control parameter value set C, and the same process may be repeated.
  • search range determination unit 130 determines the second range as the range of linear acceleration from 2000 to 2300 [mm/sec 2 ] and the range of corner speed difference from 900 to 1100 [mm/sec].
  • the constraint conditions are satisfied in both the first control parameter value set and the second control parameter value set.
  • the first control parameter value set A is set on the industrial machine 4, which is the actual control target, and the operation is verified, resulting in a machining error of 7 [ ⁇ m] as an index value.
  • the second control parameter value set B is set on the industrial machine 4, which is the actual control target, and the operation is verified, resulting in a machining error of 9 [ ⁇ m] as an index value. This satisfies the constraint conditions in both the first control parameter value set and the second control parameter value set.
  • the search range determination unit 130 calculates the difference in the index values between the result of the simulation process for the second control parameter value set B and the result of the operation verification on the industrial machine 4, which is the actual control target.
  • the machining error is 12 [ ⁇ m].
  • the second control parameter value set B is set and the operation is verified, the machining error is 9 [ ⁇ m] as an index value, and the difference is 3 [ ⁇ m]. This value is estimated to be the modeling error that occurred when the industrial machine, which is the actual control target, was modeled. Therefore, candidates for the set of control parameter values that take into account the constraint conditions and the modeling error are reselected.
  • the target error set as the constraint condition is 10 [ ⁇ m]
  • the candidate implementation unit 120 performs operation verification on the third control parameter set C in the industrial machine 4, which is the actual control target. Then, if the index value calculated from the verification result does not satisfy the constraint condition, the range between the third control parameter value set C and the second control parameter value set B can be determined as the second range. On the other hand, if the constraint condition is satisfied, a set of control parameter values with a larger processing error can be reselected as the third control parameter value set C, and the same process can be repeated.
  • FIG. 6 is a flowchart showing a schematic flow of the second search process.
  • the second search unit 140 selects an initial value for each control parameter from the second range and sets it for the industrial machine 4, which is the actual controlled object (step SD01).
  • the second search unit 140 sets the evaluation program 220 to be executed for the industrial machine 4, which is the actual controlled object (step SD02).
  • the second search unit 140 commands the industrial machine 4, which is the actual controlled object, to operate with the set control parameter values.
  • step SD03 an operation based on the command information included in the evaluation program 220 is performed (step SD03).
  • the second search unit 140 acquires the operation result from the industrial machine 4, which is the actual control target (step SD04).
  • the acquired operation result is the machining path and cycle time used to calculate the index value.
  • the second search unit 140 calculates the index value based on the acquired operation result (step SD05).
  • the machining error which is the index value, can be calculated as the maximum value of the difference between the path commanded by the evaluation program 220 and the actual machining path.
  • the cycle time acquired as the processing result is used as the index value as it is.
  • step SD06 If the search of the second range is not completed at this point (No in step SD06), the second search unit 140 adjusts the value of the control parameter and sets it for the industrial machine 4, which is the actual control target (step SD07). Then, the process proceeds to step SD03. On the other hand, if the search of the second range is completed at this point (Yes in step SD06), the control parameter that satisfies the constraints (the machining error, which is the index value, is equal to or less than the target error) and has the highest evaluation (the cycle time, which is the index value, is the fastest) is selected from the searched control parameters (step SD08).
  • the processes in steps SD03 to SD07 are performed using known search algorithms such as machine learning search, rule-based search, a predetermined full search algorithm, and Bayesian optimization, as described above.
  • the output unit 150 displays the set of control parameter values selected by the second search unit 140 on the display device 70, and also transmits and sets it to the industrial machine 4, which is the actual target of control (step SD09).
  • the parameter adjustment device 1 which has the above configuration, narrows down the range of control parameters to near the boundaries of constraint conditions by high-speed simulation processing.
  • the narrowed down range of control parameters is sufficiently narrow that it becomes possible to adjust the control parameters using, for example, industrial machinery 4, which is the actual control target.
  • industrial machinery 4 which is the actual control target.
  • the control parameters can be adjusted with high precision in industrial machinery 4, it is difficult to adjust the control parameters over a wide range because it takes time to obtain the operation results.
  • the adjustment range can be narrowed down in advance to a range that is relatively likely by high-speed simulation processing, it is expected that the adjustment time using industrial machinery 4 can be shortened.
  • a parameter adjustment device (1) includes: a controlled object model that models the operation of each part of an industrial machine (4) that is a controlled object; a simulation unit (100) that simulates the operation of the controlled object, for which a predetermined control parameter value is set, based on the controlled object model; a first search unit (110) that repeatedly causes the simulation unit (100) to perform a simulation process while changing the value of the control parameter within a predetermined first range, and searches for a candidate set of control parameter values that will result in the first index value near a boundary of a predetermined constraint condition, based on a first index value calculated from a result of the simulation process; a candidate implementation unit (120) that sets the candidate set of control parameter values searched for by the first search unit (110) as the controlled object, performs operation verification, and calculates a second index value based on a result of the operation verification; and a search range determination unit (130) that determines
  • a parameter adjustment device (1) according to another aspect of the present disclosure further includes a second search unit (140) that searches for the control parameter by repeatedly operating the control object while changing the value of the control parameter within the second range.
  • the first index value and the second index value are either machining accuracy, machining surface quality, or machining time
  • at least one of the first search unit (110) and the second search unit (140) sets the constraint condition related to the machining accuracy or the machining surface quality, and searches for the control parameters using a machine learning technique so as to maximize the machining time under the constraint condition.
  • a computer-readable recording medium having a program recorded thereon has recorded thereon a program for operating a computer as: a simulation unit (100) that simulates the operation of a control object, for which predetermined control parameter values are set, based on a control object model that models the operation of each part of at least an industrial machine (4) that is a control object; a first search unit (110) that repeatedly causes the simulation unit (100) to perform a simulation process while changing the value of the control parameter within a predetermined first range, and searches for candidate sets of control parameter values that will result in the first index value near the boundary of a predetermined constraint condition, based on a first index value calculated from the result of the simulation process; a candidate implementation unit (120) that sets the candidate sets of control parameter values searched for by the first search unit (110) as the control object, verifies the operation, and calculates a second index value based on the result of the operation verification; and a search range determination unit (130) that determines a second range,
  • Reference Signs List 1 Parameter adjustment device 4 Industrial machine 5 Network 6 Fog computer 7 Cloud server 8 Sensor 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15, 17, 18, 20 Interface 22 Bus 70 Display device 71 Input device 72 External device 100 Simulation unit 110 First search unit 120 Candidate implementation unit 130 Search range determination unit 140 Second search unit 150 Output unit 210 Model storage unit 220 Evaluation program

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Abstract

Un dispositif de réglage de paramètre selon la présente divulgation propose : une unité de simulation qui simule le fonctionnement d'une cible de commande, la valeur d'un paramètre de commande prescrit étant définie, sur la base d'un modèle cible de commande qui modélise le fonctionnement de chaque partie de la cible de commande ; une première unité de recherche qui effectue un traitement de simulation tout en changeant la valeur du paramètre de commande dans une première plage prescrite, et recherche un ensemble candidat de valeurs du paramètre de commande à proximité de la limite d'une condition de contrainte prescrite sur la base d'une première valeur d'indice calculée à partir des résultats de traitement de simulation ; une unité de mise en œuvre candidate qui définit, pour la cible de commande, l'ensemble candidat de valeurs du paramètre de commande, vérifie le fonctionnement de la cible de commande, et calcule une seconde valeur d'indice sur la base des résultats de vérification ; et une unité de détermination de plage de recherche qui détermine une seconde plage plus étroite que la première plage sur la base de la première valeur d'indice et de la seconde valeur d'indice.
PCT/JP2022/045553 2022-12-09 2022-12-09 Dispositif de réglage de paramètre et support d'enregistrement lisible par ordinateur WO2024122066A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015225419A (ja) * 2014-05-26 2015-12-14 オムロン株式会社 シミュレーションシステム
JP2017102619A (ja) * 2015-11-30 2017-06-08 オムロン株式会社 制御パラメータ調整装置、制御パラメータ調整方法、制御パラメータ調整プログラム
WO2019202934A1 (fr) * 2018-04-20 2019-10-24 オムロン株式会社 Système, procédé, et programme de traitement d'informations

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015225419A (ja) * 2014-05-26 2015-12-14 オムロン株式会社 シミュレーションシステム
JP2017102619A (ja) * 2015-11-30 2017-06-08 オムロン株式会社 制御パラメータ調整装置、制御パラメータ調整方法、制御パラメータ調整プログラム
WO2019202934A1 (fr) * 2018-04-20 2019-10-24 オムロン株式会社 Système, procédé, et programme de traitement d'informations

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