JP4698656B2 - Control system and control support device - Google Patents

Description

  The present invention relates to a control system and a control support device having a function of automatically adjusting control conditions such as a control gain and a filter parameter of a servo system that controls an electric motor that drives a load device.

  Conventionally, as a technique related to servo control, a technique for automatically calculating a parameter adjustment range from a frequency response characteristic of a control target has been proposed. As the details of the automatic calculation, on the frequency response characteristic from the torque command to the motor speed, the maximum gain in the frequency band where the phase margin is less than the allowable phase margin [deg] with respect to the phase −180 [deg] is calculated. The speed gain maximum value is calculated based on the maximum gain, and other parameters such as position gain are calculated from the speed gain maximum value at a constant ratio, and this is set as the maximum value of the adjustment range. For the minimum value of the parameter adjustment range, the anti-resonance frequency is calculated from the frequency response characteristics, and the minimum speed gain value is calculated based on 0.5 to 0.8 times the anti-resonance frequency (for example, Patent Documents). 1).

  As another technique, a method has been proposed in which a simulation model is created for each of the motor drive device and the controlled object, and control parameters are optimized by a response simulation (time response simulation) focusing on the time axis (for example, , See Patent Document 2).

International Publication No. 00/62412 Pamphlet JP 2004-188541 A

  However, according to the technique disclosed in Patent Document 1, since the parameter adjustment range is automatically set based on the frequency response characteristics, it is difficult to examine target values in time response characteristics such as settling time and overshoot, and parameter adjustment There is a problem that the optimum range is not achieved, for example, the range becomes wider or narrower.

  According to the technique of the above-mentioned Patent Document 2, the parameter value optimized by the simulation is applied to the actual machine. However, since there is an error between the actual machine and the simulation, the optimum value in the simulation is not necessarily the same as that in the actual machine. There is a problem that it does not become an optimum value, and there is a problem that adjustment time increases when the simulation and the actual machine are operated alternately in order to improve the error.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a control system and a control support apparatus that can realize setting of more appropriate servo control conditions in a short time.

In order to solve the above-described problems and achieve the object, a control system according to the present invention is connected to a servo system that controls an electric motor that drives a load device, and controls the electric motor to a predetermined target operation. And a control support device that automatically adjusts the optimum value of the adjustment parameter, which is a parameter for adjusting the control response of the motor in the servo system, and the control support device is configured so that the servo system controls the motor to a predetermined target. Servo system automatic adjustment control means for automatically adjusting the optimum value of the adjustment parameter based on the result of the actual operation of the motor so as to control the operation, and the motor used for simulating the operation control of the motor in the servo system Arithmetic model identification means for identifying an arithmetic model that models the operation of the robot, and an arbitrary number of adjustments of one or more Using simulation condition setting means for setting simulation conditions, which are conditions of simulation adjustment parameters for simulating parameters, a calculation model and simulation conditions, a simulation for controlling an electric motor to a predetermined target operation is performed. A servo system simulation unit that performs a plurality of times for each of one or more adjustment parameters by changing simulation conditions, and the plurality of simulations when a plurality of the simulation adjustment parameters are used as the simulation conditions in the simulation. Recommended information generating means for generating information on adjustment parameters recommended as parameters to be adjusted in the servo system automatic adjustment control means based on the result of the simulation. If, based on the result and the information of the recommended adjustment parameters of the simulation, the servo system automatic adjustment control means for adjusting the parameter optimal value of one or more simulation to adjust the time of automatic adjustment is carried out adjusting parameters and the adjustment Servo system adjustment condition setting means for automatically setting adjustment conditions related to parameters, and the servo system automatic adjustment control means is an optimum value of the adjustment parameter within the range of adjustment conditions related to the adjustment parameters set by the servo system adjustment condition setting means. Is automatically adjusted.

  According to the present invention, parameters to be adjusted and their adjustment ranges are automatically set based on simulation results to control the electric motor to a predetermined target operation. Since the optimum value of the adjustment parameter is automatically adjusted within the adjustment range based on the result of the actual operation of the motor, the parameter adjustment error existing between the actual machine and the simulation can be allowed, and the setting of the servo control conditions can be shortened. There is an effect that it can be realized in time.

  Embodiments of a control system and a control support apparatus according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited to the following description, In the range which does not deviate from the summary of this invention, it can change suitably.

Embodiment FIG. 1 is a diagram showing a schematic configuration of a control system according to an embodiment of the present invention. As shown in FIG. 1, the control system according to the present embodiment includes a servo system 100 used as an actual machine and a control support device 200 connected to the servo system 100.

  The servo system 100 includes a position command generation unit 101, a position control unit 102, a speed control unit 103, a filter control unit 104, a switch 105, a test torque command generation unit 106, an integrator 107, a state quantity observation unit 108, and a control target 110. Have. The control target 110 includes a torque control unit 111, a motor 112, a load device 113, and a rotation amount detector 114. The motor 112 is a direct acting motor such as a rotary motor or a linear motor.

  The servo system 100 enters the positioning control mode by connecting the switch 105 to the contact (a) side. In the positioning control mode, the position command generator 221 generates and outputs a position command Xr. The position controller 102 receives the difference between the position command Xr output from the position command generator 101 and the position Xm of the motor 112 output from the integrator 107, and the position Xm of the motor 112 follows the position command Xr. The speed command Vr is output as follows.

  The speed control unit 103 receives the difference between the speed command Vr and the speed Vm of the motor 112, and outputs a temporary torque command Tf so that the speed Vm follows the speed command Vr. The filter control unit 104 performs a filtering process on the temporary torque command Tf to output a torque command Tr in order to make the change in torque continuous or to remove a vibration element. The torque control unit 111 causes the motor 112 and the load device 113 to perform a desired operation based on the torque command Tr. The rotation amount detector 114 detects and outputs the speed Vm of the motor 112. The integrator 107 performs first-order integration on the speed Vm of the motor 112 and outputs a position Xm of the motor 112. The state quantity observation unit 108 observes a state quantity related to the positioning operation of the servo system 100.

  Further, the servo system 100 is in a control object analysis mode in which the test torque command generation unit 106 gives the test torque command Ts to the control object 110 by connecting the switch 105 to the contact (b) side. The time series data of the test torque command Ts and the motor speed Vm at this time is stored in the storage unit 216 of the control support device 200 described later.

  The control support apparatus 200 includes an adjustment parameter adjustment unit 210, a servo system simulation unit 220, a display unit 230, and an input unit 240. The adjustment parameter is a parameter for adjusting the response of the servo, and includes a position gain and a speed gain in the position control unit 102 and the speed control unit 103, a filter parameter in the filter control unit, and the like.

  The adjustment parameter adjustment unit 210 includes an arithmetic model identification unit 211, a simulation condition setting unit 212, a servo system adjustment condition setting unit 213, a servo system automatic adjustment control unit 214, a recommended information generation unit 215, and a storage unit 216. Have

  The calculation model identification unit 211 identifies a calculation model for calculating the operation control of the motor 112 and calculates a frequency response characteristic. The simulation condition setting unit 212 sets simulation conditions that are simulation conditions for adjustment parameters for simulating operation control of the motor 112, such as initial values of adjustment parameters. The simulation condition setting unit 212 controls the simulation by the servo system simulation unit 220 by outputting the control signal Cgs1 to the servo system simulation unit 220.

  The servo system simulation unit 220 uses the calculation model and the simulation conditions to perform a simulation when the motor 112 is controlled to a predetermined target motion by changing the simulation conditions a plurality of times.

  Such a servo system simulation unit 220 includes a position command generation unit 221, a position control unit 222, a speed control unit 223, a filter control unit 224 configured similarly to the servo system 100, and an arithmetic model 225 for the identified control target. Further, an integrator 227 that performs first-order integration of the motor speed Vm1 and outputs the motor position Xm1 is simulated, and the positioning operation in the servo system 100 that is an actual machine is simulated. At this time, the state quantity of each positioning target item at the time of executing the positioning operation is observed by the simulation state quantity observation unit 226.

  The recommended information generating means 215 is based on the result of the simulation, and information on the adjustment parameters recommended as parameters to be adjusted when the servo system automatic adjustment control means 214 described later automatically adjusts the optimum values of the adjustment parameters in the servo system 100. To generate.

  The servo system adjustment condition setting unit 213 automatically sets the optimum value of the adjustment parameter in the servo system 100 based on the simulation result and the recommended adjustment parameter information generated by the recommended information generation unit 215. Automatically set the adjustment conditions for adjustment. The servo system automatic adjustment control unit 214 outputs a control signal Cgs to the servo system 100 according to the adjustment condition automatically set by the servo system adjustment condition setting unit 213, and sets the optimum value of the adjustment parameter in the servo system 100 to the actual value of the motor 112. Automatically adjust based on movement. The storage unit 216 stores various data such as data input to the servo system 100 and the control support apparatus 200 and data generated in the processing.

  Such a control support device 200 may be configured as a dedicated arithmetic device, or may be configured as an application that operates on a personal computer, for example.

  As described above, the optimum value of the adjustment parameter in the servo system 100 is automatically adjusted by the servo system automatic adjustment control means (hereinafter referred to as an actual machine adjustment parameter search mode). Here, in the actual machine adjustment parameter search mode, the servo system 100 is controlled by a control signal Cgs which will be described later, and (1) Parameter change → (2) Positioning operation → (3) Operation result evaluation → (1)... In this mode, the optimum values of the gain and the filter parameter that automatically satisfy the positioning target for controlling the predetermined target operation of the motor 112 or minimize the arbitrary evaluation formula are repeated.

  Automatic adjustment of the optimum value of the adjustment parameter in the actual machine adjustment parameter search mode is performed by adjusting the adjustment time, depending on the setting of the adjustment parameter to be adjusted and the initial value (center value), range, interval, or change ratio of the parameter. Adjustment accuracy changes significantly. At this time, the adjustment time and the adjustment accuracy are in a trade-off relationship.

  Further, the control support device 200 configured as described above receives the time series data of the test torque command Ts and the speed Vm of the motor 112 in the control object analysis mode of the servo system 100, and identifies the calculation model, After preparing the simulation environment, the simulation adjustment parameter search mode is executed. The simulation adjustment parameter search mode is a mode for automatically adjusting optimum adjustment conditions in the actual machine adjustment parameter search mode.

  In the simulation adjustment parameter search mode, the servo system simulation unit 220 performs the same processing as in the actual machine adjustment parameter search mode, and automatically adjusts the gain and filter parameter ranges that satisfy the positioning target or minimize any evaluation formula. . Further, the control support apparatus 200 has a function of presenting an adjustment guideline in the actual machine adjustment parameter search mode based on the simulation result.

  Here, the value of the adjustment parameter obtained by automatic adjustment in the actual machine adjustment parameter search mode is the final optimum value for servo control, whereas the value obtained in the simulation adjustment parameter search mode is obtained in the actual machine adjustment parameter search mode. This is an adjustment range having a certain width for performing the optimum adjustment.

  That is, in the present embodiment, the optimum adjustment range in the actual machine adjustment parameter search mode is automatically adjusted by simulation in the simulation adjustment parameter search mode. The actual machine adjustment parameter search mode satisfies the positioning target for controlling the predetermined target operation of the motor 112 within the optimum adjustment range, or the optimum value of the gain or filter parameter that minimizes any evaluation formula Adjust automatically.

  Next, processing of the adjustment parameter adjustment unit 210 will be described. FIG. 2 is a flowchart for explaining the process of the adjustment parameter adjustment unit 210.

  First, the calculation model identification unit 211 calculates a calculation model and frequency response characteristics of the controlled object 110 (step S110). In the servo system 100 which is an actual machine, the switch 105 is connected to the contact (b) side, and the test torque command generator 106 generates a test torque command Ts. Then, the calculation model identification unit 211 identifies the calculation model of the control object 110 from the torque command Tr to the motor speed Vm and calculates the frequency response characteristic. The specific method is detailed in Shuichi Adachi, “System Identification Theory for Users,” 1993 Measurement and Control Society of Japan, and is omitted here. The identification result of the calculation model of the controlled object 110 and the calculation result of the frequency response characteristic are stored in the storage unit 216.

  FIG. 3 is a diagram for explaining an example of a control target in the control system according to the present embodiment. For example, it is assumed that the control target example is a head 300 on an XY table as shown in FIG. 3, and the head positions to which the head 300 can move are roughly four locations (location 1, location 2, location 3, location 4). . In this case, step S110 may be executed for four locations (location 1, location 2, location 3, location 4), and step S110 may be executed for each XY table machine base. Depending on the evaluation location, the accuracy of positioning operation, the difficulty of adjustment, etc. may change, resulting in variations in positioning control. For this reason, by executing step S110 for each predetermined location, it is possible to perform simulation for each predetermined location and perform detailed positioning control for each location.

  When there are a plurality of control objects, it is possible to obtain an adjustment parameter adjustment result that is robust against a positioning accuracy error for each calculation model in step S130 described later. It is also possible to obtain a guideline regarding the difficulty of adjustment for each control target.

  Next, the simulation condition setting unit 212 performs command pattern setting (step S120). For example, when the user inputs command pattern information related to a command pattern generated by the position command generation unit 221 of the servo system simulation unit 220 through the input unit 240 of the control support device, the command pattern information is input to the simulation condition setting unit 212. Is set. Further, the simulation condition setting unit 212 may read and set the command pattern stored in the storage unit 216 in advance.

  Examples of command patterns generated by the position command generator 221 are shown in FIGS. 4A and 4B. FIG. 4A illustrates a triangular wave that is a speed command pattern example 1. FIG. FIG. 4B illustrates a trapezoidal wave that is a speed command pattern example 2. A plurality of command pattern information regarding the command pattern to be generated may be set.

  When there are a plurality of command patterns, it is possible to obtain an adjustment parameter adjustment result that is robust to positioning accuracy errors for each command pattern in step S130 described later. It is also possible to obtain a guideline regarding the difficulty of adjusting the adjustment parameter for each command pattern. It is also possible to store the time series data of the position command Xr given by the position command generation unit 101 in the servo system 100 which is an actual machine and use the time series data of the position command Xr instead of the position command generation unit 221 in the simulation. Is possible.

  Next, the servo system simulation unit 220 searches for adjustment parameters in the simulation adjustment parameter search mode (step S130). That is, a positioning control system (consisting of a position command generation unit 221, a position control unit 222, a speed control unit 223, and a filter control unit 224) similar to the servo system 100 that is an actual machine, and the calculation model 225 calculated in step S110. Are given to the position command generator 221 for the command pattern set in step S120, and a time response simulation (simulation) simulating the actual machine adjustment parameter search mode in the actual machine. Time response simulation in the adjustment parameter search mode).

  Changes in the command pattern, calculation model, and adjustment parameter value in this simulation are controlled by the control signal Cgs1 from the simulation condition setting means 212. The servo system simulation unit 220 changes the simulation condition such as the adjustment parameter value based on the control signal Cgs1, and executes the simulation adjustment parameter search a plurality of times. At this time, in all the simulations executed, the positioning operation is observed by the simulation state quantity observation unit 226, and the observed state quantity is stored in the storage unit 216.

  Next, the simulation processing in the simulation adjustment parameter search mode in step S130 will be described in detail with reference to FIG. FIG. 5 is a flowchart for explaining the simulation processing in the simulation adjustment parameter search mode in step S130.

First, the simulation condition setting unit 212 sets initial values of adjustment parameters (step S131). Examples of the initial value setting method include the following examples.
(1) The simulation condition setting means 212 calculates speed open loop characteristics and closed loop characteristics including the filter control unit 224 from the frequency response characteristics calculated in step S110, and speed controls the maximum value that can be stably driven on the frequency response. Automatically set to system parameter and filter parameter initial value. Thereafter, the position open loop characteristic and the position closed loop characteristic are similarly calculated and automatically set for the initial values of the position control system parameters.
(2) When the user inputs information regarding the initial value of the adjustment parameter to the control support apparatus 200 using the input unit 240, the input information is input to the simulation condition setting unit 212. The simulation condition setting unit 212 sets the initial value of the adjustment parameter based on this information.
(3) The initial value of the adjustment parameter is set by combining (1) and (2).

  Next, the simulation condition setting unit 212 sets a target value of the positioning target item (step S132). When the user inputs information regarding the target value of the positioning target item to the control support apparatus 200 using the input unit 240, the information is input to the simulation condition setting unit 212. The simulation condition setting unit 212 sets the target value of the positioning target item based on the information regarding the target value of the positioning target item. The positioning target item will be described with reference to FIG. FIG. 6 is a diagram for explaining the positioning target items. Examples of positioning target items include settling time, operation time, overshoot, and residual vibration. The schedule for each item is as follows.

<Positioning target item>
(1) Settling time = Positioning completion time-Command completion time (2) Operation time = Positioning completion time-Command start time (3) Overshoot = Maximum overshoot of position deviation after command completion time (4) Residual vibration = Positioning Amount of vibration that does not converge due to a poor attenuation rate after the completion time.
-Positioning completion time = time when the position deviation Xe1 is finally within the settling width.

  Next, the simulation condition setting means 212 sets an adjustment condition for simulation adjustment parameter search, which is a simulation condition (step S133).

<Setting the number of adjustment parameters>
First, when the user inputs information regarding the number of adjustment parameters to the control support apparatus 200 using the input unit 240 (the number of adjustment parameters is not limited), the information is input to the simulation condition setting unit 212. The simulation condition setting unit 212 sets the number of adjustment parameters based on this information.

<Adjustment parameter settings>
Next, the simulation condition setting unit 212 sets adjustment parameters. Examples of the adjustment parameter setting method include the following examples.
(1) When the user inputs information on all parameters that can be adjusted using the input unit 240 to the control support apparatus 200, the information is input to the simulation condition setting unit 212. The simulation condition setting means 212 sets an adjustment parameter based on this information (when it is unclear which parameter should be adjusted).
(2) When the user inputs information regarding the adjustment parameter to be adjusted to the control support apparatus 200 using the input unit 240, the input information is input to the simulation condition setting unit 212. The simulation condition setting unit 212 sets an adjustment parameter based on this information (when it is known in advance which parameter should be adjusted).

<Adjustment range setting for adjustment parameters>
Next, the simulation condition setting unit 212 automatically sets an adjustment range for each adjustment parameter. The adjustment range is set as follows, for example, with the adjustment parameter initial value set in step S131 as the adjustment center value (sim_prm_mid).
Minimum value sim_prm_min = sim_prm_mid × 0.5
Maximum value sim_prm_max = sim_prm_mid × 1.5

<Adjustment interval setting for adjustment parameters>
Next, the simulation condition setting unit 212 sets an adjustment parameter adjustment interval. When the user inputs information about the number of steps into the control support apparatus 200 using the input unit 240, the input information is input to the simulation condition setting unit 212. The simulation condition setting unit 212 sets the number of steps based on this information. Then, the simulation condition setting unit 212 automatically calculates and sets the adjustment interval for each adjustment parameter from the adjustment range and the number of steps. The number of steps may be different for each adjustment parameter.

  In the above description, the example in which the adjustment range and the adjustment interval are set as the adjustment conditions in step S133 has been described. However, an adjustment center value, an adjustment value change ratio, or the like may be used.

  Next, the simulation condition setting means 212 outputs a control signal Cgs1 to the servo system simulation unit 220 based on these set simulation conditions. The servo system simulation unit 220 performs a simulation adjustment parameter search process using the control signal Cgs1 (step S134).

  The servo system simulation unit 220 performs (1) parameter change (adjustment) as simulation adjustment parameter search processing according to the calculation model identified in step S110, the command pattern set in step S120, and the simulation conditions set in steps S131 to S133. (Point change) → (2) Positioning operation → (3) Operation result evaluation → (1) Parameter change...

  FIG. 7 is a diagram for explaining simulation adjustment parameter search processing. In the example shown in FIG. 7, there are two adjustment parameters, adjustment parameter 1 and adjustment parameter 2, with adjustment parameter 1 on the horizontal axis and adjustment parameter 2 on the vertical axis. The number of steps of the adjustment parameter 1 is 5, and the adjustment range is divided into five parts, ie, sim_prm1 (1) to sim_prm1 (5). Sim_prm1 (1) is the minimum value (sim_prm (1) _min), and sim_prm1 (5) is the maximum value (sim_prm (1) _max). Further, the number of steps of the adjustment parameter 2 is 7, and the adjustment range is divided into 7 parts, ie, sim_prm2 (1) to sim_prm2 (7). Sim_prm2 (1) is a minimum value (sim_prm (2) _min), and sim_prm1 (7) is a maximum value (sim_prm (2) _max).

In the simulation adjustment parameter search process, for example,
(Adjustment parameter 1: sim_prm1 (1), Adjustment parameter 2: sim_prm2 (1))
→ (Adjustment parameter 1: sim_prm1 (1), Adjustment parameter 2: sim_prm2 (2))
→ (Adjustment parameter 1: sim_prm1 (1), Adjustment parameter 2: sim_prm2 (3))
→ ...
The time response simulation is repeatedly executed by changing the combination of adjustment parameters (adjustment points) as described above. Then, the simulation result (operation result evaluation) is stored in the storage unit 216.

  Next, the recommended information generation unit 215 performs sensitivity analysis of the adjustment parameter with respect to the target value of the positioning target item (step S135). The adjustment parameter sensitivity is the degree of influence of each adjustment parameter on the increase / decrease of the value of each positioning target item in the simulation result. For example, when the positioning target item is an overshoot amount, it is the degree of influence of each parameter on the increase / decrease of the overshoot amount.

  The recommended information generation unit 215 selects and recommends an adjustment parameter to be adjusted from among a large number of adjustment parameters based on the simulation result so as to satisfy the target value of the positioning target item in the actual machine adjustment parameter search process. . Therefore, the recommended information generation unit 215 analyzes the sensitivity of the adjustment parameter with respect to the target value of the positioning target item, and performs ranking.

  As information used for sensitivity analysis of the adjustment parameter, for example, in the simulation adjustment parameter search process in step S134, the operation result when the adjustment parameter is the initial value (simulation result) and the value of the adjustment parameter before and after the initial value are set. There is an operation result (simulation result) in the case of changing by shaking (other parameters are fixed) and a change rate of the positioning target value obtained from the result.

  Next, the servo system adjustment condition setting unit 213 displays the adjustment parameter adjustment result in the simulation adjustment parameter search process in step S134 and the adjustment parameter recommended by the recommended information generation unit 215 as an adjustment guide (step S136). Regardless of whether the positioning target is satisfied or not, the servo system adjustment condition setting means 213 displays the result of the simulation adjustment parameter search in order to make the user intuitively understand the result of the simulation adjustment parameter search. Or the like is displayed on the display unit 230.

  The adjustment guideline is information on adjustment parameters recommended as adjustment parameters to be adjusted when the optimum value of the adjustment parameter is automatically adjusted in the actual machine adjustment parameter search process. As described above, by recommending a parameter to be adjusted to satisfy the positioning target from among a large number of adjustment parameters based on the simulation adjustment parameter search result, the optimum adjustment result can be reached in a short time.

  Examples of display contents include adjustment parameter adjustment processes, adjustment results, and adjustment guidelines. 8A and 8B, as examples of waveform display of simulation adjustment parameter search results, examples of position deviation waveforms, settling time, and overshoot results when adjustment parameter 1 or adjustment parameter 2 is changed. Show.

  FIG. 8A shows an example of the position deviation waveform display result of the simulation adjustment parameter search result when only the adjustment parameter 1 is changed using the predetermined speed command pattern P in the example of FIG. FIG. 8B shows a display example of the adjustment pointer obtained from the simulation adjustment parameter search result. FIG. 8-2 (a) shows an example of the position deviation waveform display result of the simulation adjustment parameter search result when the predetermined speed command pattern P is used in the example of FIG. 7 and only the adjustment parameter 2 is changed. FIG. 8B shows a display example of the adjustment pointer obtained from the simulation adjustment parameter search result. The change rate of adjustment parameter 1 in FIG. 8A is the same as the change rate of adjustment parameter 2 in FIG. 8B.

  From FIG. 8-1 (a), FIG. 8-1 (b), FIG. 8-2 (a), and FIG. 8-2 (b), even if the change ratio of the adjustment parameter 1 and the adjustment parameter 2 is the same. It can be seen that the sensitivity to the values of the positioning target items such as the establishment time and the overshoot is different, and it can be determined that the adjustment parameter 1 has a higher settling time and higher sensitivity to the overshoot.

  FIG. 8-3 shows a positional deviation due to the evaluation location as an example of the waveform display of the simulation adjustment parameter search result when there are a plurality of evaluation locations and the same operating conditions (parameter value, command pattern) except that the evaluation locations are different. A comparative example of the waveform, settling time, and overshoot amount is shown. FIG. 8C shows an example of the position deviation waveform display of the simulation adjustment parameter search result. FIG. 8-3 (b) shows a display example of an adjustment guide obtained from a simulation adjustment parameter search result. In this case, the evaluation location 2 has a larger overshoot amount than the evaluation location 1 and protrudes once from the settling width, and the settling time is also delayed. From this, it is possible to display an adjustment guideline such as “Evaluation point 1 is easier to adjust and is a control target with positioning variation depending on the point” on display unit 230 and present it to the user. Intuitive and easy-to-understand understanding can be given.

  FIG. 8-4 shows the position deviation waveform, settling time, and overshoot due to the difference in the command pattern when there are a plurality of command patterns and the same operation conditions (parameter value, evaluation location) except for the different command patterns. The comparative example of quantity is shown. FIG. 8-4 (a) shows an example of the position deviation waveform display of the simulation adjustment parameter search result. Further, FIG. 8-4 (b) shows a display example of the adjustment pointer obtained from the simulation adjustment parameter search result. In this case, when the speed command pattern 2 is used, the amount of overshoot is larger than when the speed command pattern 1 is used, and the amount of overshoot is once out of the settling width and the settling time is also delayed. Therefore, an adjustment guideline such as “the command pattern 1 is easier to adjust” can be displayed on the display unit 230 and presented to the user. Thereby, it is possible to give the user an intuitive and easy-to-understand understanding.

  Next, the servo system adjustment condition setting means 213 has an adjustment parameter value satisfying the target value of the positioning target item in the simulation adjustment parameter search result (when there are a plurality of adjustment parameters, a combination of adjustment parameters satisfying the target value). It is determined whether or not it exists (step S137). If there is an adjustment parameter value that satisfies the target value in the simulation adjustment parameter search result (Yes at step S137), the servo system adjustment condition setting unit 213 ends the series of simulation adjustment parameter search modes. If there is no parameter value that satisfies the target value in the simulation adjustment parameter search results (No at step S137), the process returns to step S132.

  Returning to FIG. 2, step S140 and subsequent steps will be described. Next, the servo system adjustment condition setting means 213 sets the adjustment condition in the actual machine adjustment parameter search mode based on the simulation adjustment parameter search result (step S140). Adjustment conditions in the actual machine adjustment parameter search mode include an adjustment parameter adjustment range, an adjustment center value, and the like. Further, an adjustment center value, an adjustment value change ratio, or the like may be used.

  By setting the adjustment parameter adjustment range based on the simulation result, the optimum adjustment result can be reached in a short time. Also, in order to adjust the optimum value by performing the actual machine adjustment parameter search mode within the adjustment range set based on the simulation adjustment parameter search results, the parameter value adjustment error existing between the simulation and the actual machine is allowed, and the adjustment parameter Adjustment accuracy can be improved.

<Setting the number of adjustment parameters>
The servo system adjustment condition setting means 213 sets the number of adjustment parameters based on the simulation adjustment parameter search result (the number of adjustment parameters is not limited).

<Adjustment parameter settings>
Next, the servo system adjustment condition setting means 213 sets adjustment parameters. Examples of the adjustment parameter setting method include the following examples.
(1) Automatically set from the higher-order adjustment parameters ranked in the sensitivity analysis in step S135.
(2) When the user inputs information on the adjustment parameter to the control support apparatus 200 using the input unit 240 with reference to the parameter sensitivity in step S135 and the adjustment result and guideline in step S136, the input information is stored in the servo system. Input to the adjustment condition setting means 213. The servo system adjustment condition setting means 213 sets adjustment parameters based on this information.

<Adjustment range setting for adjustment parameters>
Next, the servo system adjustment condition setting means 213 automatically sets the adjustment range in the actual machine adjustment parameter search mode. Examples of the automatic setting means include the following examples.
(1) The parameter optimum value calculated in the simulation adjustment parameter search mode is set as the center value (prm_mid), for example, in the direction of narrowing the range as follows based on the adjustment range set in step S133.
Minimum value prm_min = prm_mid × (0.5 + 0.3)
Maximum value prm_max = prm_mid × (1.5−0.3)
(2) Set by excluding parameter values that deviate significantly from the positioning target value. For example, the settling time target value α and the allowable coefficient β are set, and the adjustment range in which the settling time value γ in the simulation result is within the range represented by the following expression (1) is extracted.
α × (1−β) ≦ γ ≦ α × (1 + β) (1)
In addition, the above adjustment range needs to include at least one adjustment point that satisfies the target value, but does not need to be the optimal point (the optimal point is too good compared to the target value α and corresponds to equation (1)) Because it may not.)

  Examples of (1) above are shown in FIGS. 9-1 and 9-2. In FIG. 9A, the optimum value in the simulation adjustment parameter search is indicated by a black circle, and the adjustment range in the actual machine adjustment parameter search mode selected based on this is indicated by a bold line. In FIG. 9A, there are two adjustment parameters, adjustment parameter 1 and adjustment parameter 2, with adjustment parameter 1 on the horizontal axis and adjustment parameter 2 on the vertical axis. The number of steps of the adjustment parameter 1 is 5, and the adjustment range is divided into five parts, ie, sim_prm1 (1) to sim_prm1 (5). Sim_prm1 (1) is the minimum value (sim_prm (1) _min), and sim_prm1 (5) is the maximum value (sim_prm (1) _max). Further, the number of steps of the adjustment parameter 2 is 7, and the adjustment range is divided into 7 parts, ie, sim_prm2 (1) to sim_prm2 (7). Sim_prm2 (1) is a minimum value (sim_prm (2) _min), and sim_prm1 (7) is a maximum value (sim_prm (2) _max).

  In FIG. 9-2, the adjustment range in the actual machine adjustment parameter search mode set based on the optimum value in the simulation adjustment parameter search is indicated by a bold line, and the area surrounded by the bold line is the corresponding range. In FIG. 9-2, the adjustment range in the actual machine adjustment parameter search mode selected based on the optimum value in the simulation adjustment parameter search in FIG. 9-1 is shown. The number of steps is reset as 7.

  Examples of (2) above are shown in FIGS. 10-1 and 10-2. FIG. 10A is a diagram in which adjustment points that satisfy the positioning target value are indicated by triangles, adjustment points that satisfy the above equation (1) are white squares, and adjustment points that do not satisfy the above equation (1) are hatched. This is indicated by an inset square. In FIG. 10A, as in FIG. 9A, there are two adjustment parameters, adjustment parameter 1 and adjustment parameter 2, with adjustment parameter 1 on the horizontal axis and adjustment parameter 2 on the vertical axis. . The number of steps of the adjustment parameter 1 is 5, and the adjustment range is divided into five parts, ie, sim_prm1 (1) to sim_prm1 (5). Sim_prm1 (1) is the minimum value (sim_prm (1) _min), and sim_prm1 (5) is the maximum value (sim_prm (1) _max). Further, the number of steps of the adjustment parameter 2 is 7, and the adjustment range is divided into 7 parts, ie, sim_prm2 (1) to sim_prm2 (7). Sim_prm2 (1) is a minimum value (sim_prm (2) _min), and sim_prm1 (7) is a maximum value (sim_prm (2) _max).

  In FIG. 10-2, the adjustment range in the actual machine adjustment parameter search mode set based on the above formula (1) is indicated by a thick line, and the area surrounded by the bold line is the corresponding range. In FIG. 10-2, the adjustment range in the actual machine adjustment parameter search mode selected on the basis of the above equation (1) in FIG. 10-1, the adjustment parameter 1 in increments of 5, and the adjustment parameter 2 in increments. The number is reset as 7.

<Adjustment interval setting for adjustment parameters>
Next, the servo system adjustment condition setting means 213 sets an adjustment parameter adjustment interval. The adjustment interval is calculated from the adjustment range and the number of steps. Examples of the method for setting the number of steps include the following examples.
(1) The number of steps set in step S133 is used as it is.
(2) When the user inputs information about the number of steps into the control support device 200 using the input unit 240 with reference to the parameter sensitivity in step S135, the adjustment result in step S136, and the adjustment guideline, the input information is servo Input to the system adjustment condition setting means 213. The servo system adjustment condition setting means 213 sets the number of steps based on this information. Then, the servo system adjustment condition setting unit 213 automatically calculates and sets the adjustment interval for each adjustment parameter from the adjustment range and the number of steps. The number of steps may be different for each adjustment parameter.

<Settings related to command pattern and evaluation location>
When there are a plurality of command patterns or evaluation locations, the command patterns and the evaluation locations are ranked in consideration of the difficulty of adjustment based on the adjustment guideline shown in step S136. Further, based on this ranking, the actual machine adjustment parameter search is set to start from the command pattern that is most difficult to adjust or from the evaluation point. For example, if there are 3 locations that satisfy the target value and 1 location that does not satisfy the target value in 4 evaluation locations, the remaining 3 locations are started by starting the actual machine adjustment parameter search from the evaluation location that does not satisfy the target value. The actual machine adjustment parameter search at can be omitted, and the effect of shortening the adjustment time can be obtained. That is, it can be quickly determined whether the adjustment point satisfies the positioning target or not, and the adjustment time can be shortened.

  Next, the servo system automatic adjustment control unit 214 outputs the control signal Cgs to the servo system 100 based on the adjustment condition set in step S140, and automatically adjusts the optimum value of the adjustment parameter in the servo system 100 (step). S150). The servo system 100 executes the actual machine adjustment parameter search mode according to the control signal Cgs. That is, the servo system 100 repeats the process of (1) parameter change → (2) positioning operation → (3) operation result evaluation → (1)... The optimum values of the gain and filter parameters are automatically adjusted so as to satisfy the positioning target for controlling or minimize any evaluation formula.

  As described above, in the control system according to the present embodiment, the control support apparatus 200 sets the adjustment conditions for the actual machine adjustment parameter search mode based on the result of executing the simulation adjustment parameter search mode, and sets the actual machine adjustment parameter. In the search mode, the optimum value of the adjustment parameter in the servo system 100 is automatically adjusted based on the set adjustment condition. In the simulation adjustment parameter search mode, positioning targets such as settling time and overshoot can be taken into account by executing the time response simulation, and it is more than setting the adjustment conditions of the actual machine adjustment parameter search mode from the frequency response characteristics of the controlled object. Since appropriate adjustment conditions can be set, the adjustment accuracy can be improved, and the adjustment can be performed in a short time.

  That is, by combining coarse adjustment in simulation adjustment parameter search and fine adjustment in actual machine adjustment parameter search, it is possible to achieve both improvement in adjustment accuracy and reduction in adjustment time when automatically adjusting the optimum value of the adjustment parameter. .

  In addition, when the adjustment conditions in the actual machine adjustment parameter search mode are set manually, there is a problem that the adjustment accuracy is uneven by the user, or appropriate adjustment conditions cannot be set, and it takes time for adjustment. By automatically setting the adjustment conditions from the adjustment parameter search results, the adjustment time can be shortened, the adjustment results can be homogenized, and the adjustment can be simplified.

  As described above, the control system according to the present invention is useful for applications that require more accurate and quick servo control.

It is a figure showing a schematic structure of a control system concerning an embodiment of the invention. It is a flowchart for demonstrating the process of the adjustment parameter adjustment part in the control system concerning embodiment of this invention. It is a figure for demonstrating the example of a control object in the control system concerning embodiment of this invention. It is a figure which shows the example of the command pattern generated in the position command generation part of the control system concerning embodiment of this invention. It is a figure which shows the example of the command pattern generated in the position command generation part of the control system concerning embodiment of this invention. It is a flowchart for demonstrating the simulation process in the simulation adjustment parameter search mode in the control system concerning embodiment of this invention. It is a figure for demonstrating the positioning target item in the control system concerning embodiment of this invention. It is a figure for demonstrating the simulation adjustment parameter search process in the control system concerning embodiment of this invention. It is a figure which shows the example of the waveform display of the simulation adjustment parameter search result in the control system concerning embodiment of this invention. It is a figure which shows the example of the waveform display of the simulation adjustment parameter search result in the control system concerning embodiment of this invention. It is a figure which shows the example of the waveform display of the simulation adjustment parameter search result in the control system concerning embodiment of this invention. It is a figure which shows the example of the waveform display of the simulation adjustment parameter search result in the control system concerning embodiment of this invention. It is a figure for demonstrating the adjustment range setting method of the adjustment parameter in the servo system adjustment condition setting means of the control system concerning embodiment of this invention. It is a figure for demonstrating the adjustment range setting method of the adjustment parameter in the servo system adjustment condition setting means of the control system concerning embodiment of this invention. It is a figure for demonstrating the adjustment range setting method of the adjustment parameter in the servo system adjustment condition setting means of the control system concerning embodiment of this invention. It is a figure for demonstrating the adjustment range setting method of the adjustment parameter in the servo system adjustment condition setting means of the control system concerning embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Servo system 101 Position command generation part 102 Position control part 103 Speed control part 104 Filter control part 105 Switch 106 Test torque command generation part 107 Integrator 108 State quantity observation part 110 Control object 111 Torque control part 112 Motor 113 Load apparatus 114 Rotation amount detector 200 Control support device 210 Adjustment parameter adjustment unit 211 Calculation model identification unit 212 Simulation condition setting unit 213 Servo system adjustment condition setting unit 214 Servo system automatic adjustment control unit 215 Recommended information generation unit 216 Storage unit 220 Servo system simulation unit 221 Position command generation unit 222 Position control unit 223 Speed control unit 224 Filter control unit 225 Calculation model 226 Simulation state quantity observation unit 227 Integrator 230 Display unit 240 Input unit 300 Head Cgs Control signal Cgs1 Control signal P Speed command pattern

Claims (12)

A servo system that controls the electric motor that drives the load device;
A control support apparatus that is connected to the servo system and automatically adjusts an optimum value of an adjustment parameter that is set to control the electric motor to a predetermined target operation and is a parameter for adjusting a control response of the electric motor in the servo system. When,
Consists of
The control support device includes:
Servo system automatic adjustment control means for automatically adjusting the optimum value of the adjustment parameter based on the result of actual operation of the electric motor so that the servo system controls the electric motor to a predetermined target operation;
An operation model identifying means for identifying an operation model that models the operation of the electric motor, which is used for simulating the operation control of the electric motor in the servo system;
Simulation condition setting means for setting a simulation condition that is a condition of the simulated adjustment parameter for performing the simulation for an arbitrary number of the adjustment parameters of one or more;
A servo system that uses the arithmetic model and the simulation conditions to perform the simulation when controlling the electric motor to a predetermined target operation a plurality of times for each of the one or more adjustment parameters by changing the simulation conditions A simulation section;
When a plurality of the simulation adjustment parameters are used as the simulation conditions in the simulation, an adjustment parameter recommended as a parameter to be adjusted in the servo system automatic adjustment control means is selected from the plurality of simulation adjustment parameters. Recommended information generating means for generating information based on the result of the simulation;
Based on the simulation result and the recommended adjustment parameter information , the servo system automatic adjustment control means adjusts the automatic adjustment of the optimum value of the adjustment parameter. And a servo system adjustment condition setting means for automatically setting an adjustment condition relating to the adjustment parameter;
With
The servo system automatic adjustment control means automatically adjusts the optimum value of the adjustment parameter within a range of adjustment conditions related to the adjustment parameter set by the servo system adjustment condition setting means;
Control system characterized by. The recommended information generation means is configured such that a change in the value of the adjustment parameter obtained from the result of the simulation when the value of the adjustment parameter is changed at a predetermined rate is used as the recommended adjustment parameter. Generating based on the magnitude of the impact on the
The control system according to claim 1 . The recommended information generation means is configured such that a change in the value of the adjustment parameter obtained from the result of the simulation when the value of the adjustment parameter is changed at a predetermined rate is used as the recommended adjustment parameter. Generating based on the trend of the impact on
The control system according to claim 1 . The adjustment condition related to the adjustment parameter automatically set by the servo system adjustment condition setting means is a condition for specifying an adjustment parameter adjustment range when the servo system automatic adjustment control means automatically adjusts the optimum value of the adjustment parameter. Either the parameter adjustment interval or the adjustment parameter change ratio
The control system according to claim 1. When a plurality of speed command patterns or a plurality of evaluation points are given as the simulation condition, information on which speed command pattern or which evaluation point is difficult to adjust the adjustment parameter is generated, and the information is Providing a display unit for displaying;
The control system according to claim 1. The servo system automatic adjustment control means automatically adjusts the optimum value of the adjustment parameter from a condition corresponding to a speed command pattern or an evaluation location that is difficult to adjust based on the information;
The control system according to claim 5 . An adjustment parameter that is connected to a servo system that controls an electric motor that drives a load device, and is a parameter that is set to control the electric motor to a predetermined target operation and adjusts a control response of the electric motor in the servo system; Servo system automatic adjustment control means for automatically adjusting the optimum value for the servo system to control the electric motor to a predetermined target operation based on the result of the actual operation of the electric motor;
An operation model identifying means for identifying an operation model that models the operation of the electric motor, which is used for simulating the operation control of the electric motor in the servo system;
Simulation condition setting means for setting a simulation condition that is a condition of the simulated adjustment parameter for performing the simulation for an arbitrary number of the adjustment parameters of one or more;
A servo system that uses the arithmetic model and the simulation conditions to perform the simulation when controlling the electric motor to a predetermined target operation a plurality of times for each of the one or more adjustment parameters by changing the simulation conditions A simulation section;
When a plurality of the simulation adjustment parameters are used as the simulation conditions in the simulation, an adjustment parameter recommended as a parameter to be adjusted in the servo system automatic adjustment control means is selected from the plurality of simulation adjustment parameters. Recommended information generating means for generating information based on the result of the simulation;
Based on the simulation result and the recommended adjustment parameter information , the servo system automatic adjustment control means adjusts the automatic adjustment of the optimum value of the adjustment parameter. And a servo system adjustment condition setting means for automatically setting an adjustment condition relating to the adjustment parameter;
With
The servo system automatic adjustment control means automatically adjusts the optimum value of the adjustment parameter within a range of adjustment conditions related to the adjustment parameter set by the servo system adjustment condition setting means;
A control support apparatus characterized by the above.   The recommended information generation means is configured such that a change in the value of the adjustment parameter obtained from the result of the simulation when the value of the adjustment parameter is changed at a predetermined rate is used as the recommended adjustment parameter. Generating based on the magnitude of the impact on the
  The control support apparatus according to claim 7.   The recommended information generation means is configured such that a change in the value of the adjustment parameter obtained from the result of the simulation when the value of the adjustment parameter is changed at a predetermined rate is used as the recommended adjustment parameter. Generating based on the trend of the impact on
  The control support apparatus according to claim 7.   The adjustment condition related to the adjustment parameter automatically set by the servo system adjustment condition setting means is a condition for specifying an adjustment parameter adjustment range when the servo system automatic adjustment control means automatically adjusts the optimum value of the adjustment parameter. Either the parameter adjustment interval or the adjustment parameter change ratio
  The control support apparatus according to claim 7.   When a plurality of speed command patterns or a plurality of evaluation points are given as the simulation condition, information on which speed command pattern or which evaluation point is difficult to adjust the adjustment parameter is generated, and the information is Providing a display unit for displaying;
  The control support apparatus according to claim 7.   The servo system automatic adjustment control means automatically adjusts the optimum value of the adjustment parameter from a condition corresponding to a speed command pattern or an evaluation location that is difficult to adjust based on the information;
  The control support apparatus according to claim 11.

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