JP7524741B2 - Servo parameter adjustment method and adjustment device - Google Patents

Description

The present invention relates to a method for adjusting servo parameters and a device for adjusting servo parameters.

In equipment equipped with a motor or the like for driving a load, the servo parameters of the servo driver (position gain, speed gain, filter cutoff frequency, etc.) are generally adjusted to properly servo-control the motor. The adjustment method for such servo parameters generally involves actually driving the motor or load device. In this case, the servo parameters are set in a motor control device such as a servo driver, and the frequency response of the motor according to the servo parameters is measured, and the suitability of the servo parameters is determined to adjust the servo parameters. Alternatively, instead of adjusting the parameters while driving an actual load device as described above, a method of determining the servo parameters based on the results of a simulation of the response of the load device can be exemplified.

Here, in the prior art shown in Patent Document 1, a performance index is calculated to determine whether the set servo parameters are appropriate, and the servo parameters to be finally set are determined based on the performance index. As the performance index, parameters related to control stability and responsiveness such as settling time are adopted. In other words, in this technology, the correlation between the servo parameters and the motor behavior is visualized using the performance index.

Patent No. 6583070

In general, in order to determine the servo parameters for servo-controlling a motor, it is common to actually drive equipment including a motor and load and measure its response. This is because it is difficult to completely reproduce the actual equipment on a computer using simulation processing that models the load and motor alone, and as a result, it is not possible to adjust the servo parameters to the optimum. In reality, depending on the servo parameters that are set, vibrations or abnormal noises may occur in the equipment, and because such undesirable phenomena are difficult to discover using simulation alone, servo parameters are often adjusted while the actual equipment is running.

However, because the behavior of equipment can change significantly depending on the servo parameters, adjusting the servo parameters is not easy and requires a certain level of skill. Therefore, if a person with such skills is not present at the location where the equipment is installed, it becomes difficult to adjust the servo parameters quickly, and it takes time to start up the equipment. In addition, if the equipment is installed in a remote location, a person with the appropriate skills will need to travel that far away, which is a significant workload.

The present invention was made in consideration of these problems, and aims to provide a technology that allows a person with the appropriate skills in adjusting servo parameters to quickly adjust the servo parameters of a motor in equipment, even if the person is located away from the installation site of the equipment.

A servo parameter adjustment method according to one aspect of the present invention is a method for remotely adjusting servo parameters related to servo control of a motor attached to equipment equipment from an adjustment location different from a location where the equipment equipment is installed, and includes a first step of acquiring frequency analysis results of the frequency response of the motor measured at at least two sampling periods in a state where provisional parameters including parameters related to the inertia ratio of the motor are provisionally set in the equipment equipment, a second step of adjusting the servo parameters at the adjustment location through a simulation process related to the equipment equipment based on the provisional parameters and the frequency analysis results corresponding to the at least two sampling periods, and a third step of transmitting the adjusted servo parameters to the equipment equipment.

The above adjustment method is a method for adjusting servo parameters for servo control of a motor of an equipment device, which is performed at a location different from where the equipment device is installed, i.e., a remote adjustment location. In other words, the adjustment method is performed at a location where the behavior of the equipment device having the motor that is the actual control target cannot be directly confirmed. In summary, the frequency response of the motor is measured in the equipment device, a frequency analysis is performed on the measured frequency response, and the servo parameters are adjusted using the results. In order to measure a suitable frequency response for parameter adjustment, it is preferable to set a speed gain that is suitable to a certain extent, even if it is not necessarily optimal. Therefore, the provisional parameters include a parameter related to the inertia ratio of the motor.

In the above adjustment method, in order to preferably realize the frequency analysis of the frequency response, frequency analysis is performed on the frequency response measured at at least two sampling periods. This is because the servo characteristics of the motor, which are visible through the frequency analysis results, vary depending on the sampling period. That is, the shorter the sampling period, the wider the frequency range of characteristic analysis is possible, but on the other hand, the characteristics in the low frequency range become inaccurate. Conversely, the longer the sampling period, the more accurately the characteristic analysis of the low frequency range can be performed, but on the other hand, the frequency range that can be analyzed becomes narrower, and there is a risk that characteristics in the high frequency range will be overlooked. When adjusting the servo parameters from a remote adjustment location, since the equipment equipment is not located near the adjuster, it is not easy to drive the motor under various conditions according to the status of the equipment equipment and check its behavior each time. If a lot of communication is required between the adjuster of the servo parameters and the driver of the motor, smooth adjustment of the servo parameters will be hindered.

Therefore, from the viewpoint of achieving both a frequency range of an appropriate width for the facility equipment and analysis accuracy in the low-frequency range, the sampling periods are determined in order to perform frequency analysis of the frequency response measured at each of the at least two sampling periods. For example, the at least two sampling periods may be determined based on a tentative frequency analysis of the frequency response of the motor measured at a tentative sampling period by driving the motor before the frequency analysis result is obtained. More specifically, the at least two sampling periods may be determined based on the resonant frequency of the facility equipment and a speed open loop formed in servo control of the motor. Furthermore, three or more sampling periods may be set for frequency analysis.

Then, in the first step, a frequency analysis result of the frequency response of the motor measured in each of the at least two sampling periods is obtained. Note that the acquisition of the frequency analysis result in the first step may be realized by acquiring the measurement result of the frequency response and performing a predetermined fast Fourier transform process on the measurement result at the adjustment location. Alternatively, the predetermined fast Fourier transform process on the frequency response measured in the facility equipment may be performed at a location different from the adjustment location, for example, at the installation location of the facility equipment or at a third location that is neither the installation location nor the adjustment location. The acquisition may be realized by delivering the result of the predetermined fast Fourier transform process, i.e., the frequency analysis result, to the adjustment location.

Next, in the second step, based on the provisional parameters obtained when the frequency response was measured and the frequency analysis results obtained in the first step, a simulation process related to the facility equipment is performed to adjust the servo parameters more appropriately. Examples of servo parameters include position loop gain, speed loop gain, and parameters related to a filter for vibration suppression (such as cutoff frequency). For example, the servo parameters are adjusted so as to suppress gain disturbances that can be understood from the frequency analysis results (such as peak gains and resonance points near the control band). In addition, various known processes can be used as the simulation process used for the adjustment. For example, a simulation process that sets a simple physical model identified from the inertia ratio of the motor and the load, or a complex model that reflects the frequency analysis results, can be used. The adjustment in the second step is performed at an adjustment location that is different from the installation location of the facility equipment.

Then, in the third step, the servo parameters adjusted in the second step are transmitted to the facility device. The transmitted servo parameters are set in the facility device for servo control of the motor. Thus, according to the above adjustment method, even if a person with appropriate skills in adjusting servo parameters is located away from the installation location of the facility device, the servo parameters of the motor in the facility device can be quickly adjusted, and the facility device can be operated optimally.

The above adjustment method may further include a fourth step of acquiring time series data of a predetermined parameter related to an event occurring in the facility device. Then, in the second step, the servo parameters may be adjusted based on the provisional parameters, the frequency analysis results, and the time series data of the predetermined parameters. In this way, by using data other than the frequency analysis results of the frequency response, that is, time series data related to the predetermined parameters when position control of the motor to be adjusted is performed, it becomes possible to adjust the servo parameters more appropriately.

For example, the time series data of the specified parameters may be time series data related to at least one of the speed command, torque command, and position deviation during a specified period including the time when the motor is stopped when the motor is subjected to position control. When the motor is stopped during position control, vibrations are relatively likely to occur, and the presence or absence of such vibrations has a significant impact on the performance of the facility equipment. Therefore, since the time series data of the speed command, torque command, and position deviation during a specified period including the time when the motor is stopped reflects the vibrations generated by the machine, by utilizing this data, it is easier to adjust the servo parameters of the motor more appropriately.

Here, the present invention can be seen as an adjustment device that remotely adjusts servo parameters related to servo control of a motor in equipment to which the motor is attached from an adjustment location different from the location where the equipment is installed. The adjustment device includes an acquisition unit that acquires frequency analysis results of the frequency response of the motor measured in at least two sampling periods in a state in which provisional parameters including parameters related to the inertia ratio of the motor are provisionally set in the equipment, an adjustment unit that adjusts the servo parameters through a simulation process related to the equipment based on the provisional parameters and the frequency analysis results corresponding to the at least two sampling periods, and a transmission unit that transmits the adjusted servo parameters to the equipment. With the adjustment device configured in this way, it is possible to realize the above-mentioned servo parameter adjustment method.

In the above adjustment device, the at least two sampling periods may be determined based on the resonance frequency of the facility device obtained by provisional frequency analysis of the frequency response of the motor measured at the provisional sampling period while driving the motor, and on the speed open loop formed in the servo control of the motor. Three or more sampling periods for frequency analysis may be set. In addition, the technical ideas disclosed above regarding the method for adjusting servo parameters may also be applied to the adjustment device to the extent that no technical discrepancy occurs.

Even if a person with the appropriate skills in adjusting servo parameters is located away from the installation location of the equipment, the servo parameters of the motor in the equipment can be adjusted quickly.

1 is a diagram showing a schematic configuration of a control system for facility equipment equipped with a motor to which a servo parameter adjustment method of the present invention is applied, and an adjustment device for executing the adjustment method. The upper part (a) is a diagram showing the control structure of a servo driver included in the control system shown in FIG. 1, and the lower part (b) is a diagram showing the structure of a simulation system possessed by the adjustment device. 4 is a flowchart illustrating a method for adjusting servo parameters of a motor of an equipment device, which is performed between a control system of the equipment device and an adjustment device. The left diagram (a) shows the result of frequency analysis of the frequency response when the sampling period is relatively short, and the right diagram (b) shows the result of frequency analysis of the frequency response when the sampling period is relatively long. The analysis result is generated by combining the frequency analysis result shown in FIG. 4(a) and the frequency analysis result shown in FIG. 4(b).

Example 1
FIG. 1 is a diagram showing a schematic configuration of a control system to which the servo parameter adjustment method of the present invention is applied, and a schematic configuration of an adjustment device 10 to which the adjustment method is executed. First, the control system will be described. The control system includes a network 1, a motor 2, a load device 3, a servo driver 4, and a standard PLC (Programmable Logic Controller) 5. The control system is a system for driving and controlling the load device 3 together with the motor 2. The motor 2 and the load device 3 are equipment devices 6 controlled by the control system. Here, the load device 3 can be exemplified by various mechanical devices (for example, an arm of an industrial robot or a conveying device), and the motor 2 is incorporated in the equipment devices 6 as an actuator for driving the load device 3. For example, the motor 2 is an AC servo motor. An encoder (not shown) is attached to the motor 2, and a parameter signal related to the operation of the motor 2 is feedback-transmitted to the servo driver 4 by the encoder. The parameter signal (hereinafter referred to as a feedback signal) that is feedback-transmitted includes, for example, position information on the rotational position (angle) of the rotational shaft of the motor 2, information on the rotational speed of the rotational shaft, and the like.

The servo driver 4 receives an operation command signal related to the operation (motion) of the motor 2 from the standard PLC 5 via the network 1, and also receives a feedback signal output from an encoder connected to the motor 2. The servo driver 4 performs servo control related to the drive of the motor 2, i.e., calculates a command value related to the operation of the motor 2, based on the operation command signal from the standard PLC 5 and the feedback signal from the encoder, and supplies a drive current to the motor 2 so that the operation of the motor 2 follows the command value. This supply current uses AC power sent from an AC power source 7 to the servo driver 4. In this embodiment, the servo driver 4 is of a type that receives three-phase AC, but may also be of a type that receives single-phase AC. The servo control by the servo driver 4 is feedback control that uses a position controller 41, a speed controller 42, and a current controller 43 included in the servo driver 4, and the details of this will be described later with reference to FIG. 2.

The equipment device 6 configured in this manner and the control system (servo driver 4, etc.) that servo-controls it are installed at a predetermined location R1, such as a factory. Therefore, in order for the equipment device 6 to actually operate, the servo parameters incorporated therein for servo control of the motor 2 must appropriately reflect the actual structure and control characteristics of the load device 3. For this reason, in the past, in order to operate the equipment device 6, a person with the skills to adjust the servo parameters had to actually visit the installation location of the equipment device 6 and make adjustments. However, the adjustment device 10 disclosed in this application makes it possible to efficiently adjust the servo parameters without a person with such adjustment skills having to visit the installation location of the equipment device.

Specifically, the configuration of the adjustment device 10 will be described with reference to FIG. 1. FIG. 1 is a functional block diagram that visualizes various functions executed by software executed in the adjustment device 10. The adjustment device 10 is placed at a location R2 far away from a location R1 where the facility device 6 is installed. This location R2 is a location that is far enough away from the installation location R1 that the user operating the adjustment device 10 cannot directly check the behavior of the facility device 6. For example, the locations R1 and R2 may be tens or hundreds of kilometers apart, and when the location R2 is in Japan, the location R1 may be outside Japan.

The adjustment device 10 is a device for adjusting the device control parameters of the servo driver 4, and is equipped with adjustment software (programs). Specifically, the adjustment device 10 is a computer having an arithmetic unit, memory, etc., and executable adjustment software is installed therein. The adjustment device 10 then uses this adjustment software to adjust servo parameters related to the servo control of the motor 2 of the facility device 6. The adjustment device 10 and the facility device 6 or the servo driver 4 are connected to each other so as to be able to communicate with each other via wires or wirelessly.

The adjustment device 10 has an acquisition unit 11, an adjustment unit 12, and a communication unit 13. The acquisition unit 11 is a functional unit that acquires a frequency analysis result of the frequency response of the motor 2, which is the target of servo parameter adjustment. The acquisition unit 11 may acquire the frequency response of the motor 2 itself and further acquire the frequency analysis result by performing a predetermined fast Fourier transform process on it, or alternatively, may acquire a frequency analysis result generated by a predetermined fast Fourier transform process executed by a unit other than the acquisition unit 11. The adjustment unit 12 is a functional unit that adjusts the servo parameters for servo-controlling the motor 2 based on the frequency analysis result acquired by the acquisition unit 11 by executing a simulation process for calculating the response of the facility device 6 when servo-controlled by the servo driver 4. The communication unit 13 is a functional unit that controls the transmission and reception of data between the adjustment device 10 and the control system of the facility device 6.

Here, the control structure of the servo driver 4 for servo-controlling the motor 2 and the processing structure for simulation processing that the adjustment unit 12 of the adjustment device 10 has will be described with reference to FIG. 2. The servo driver 4 includes a position controller 41, a speed controller 42, and a current controller 43, and the servo control is performed by these processes. Based on the control structure of the servo driver 4 shown in the upper part (a) of FIG. 2, the content of the servo control by the servo driver 4 will be described. The position controller 41 performs, for example, proportional control (P control). Specifically, a speed command is calculated by multiplying a position deviation, which is a deviation between a position command notified from the standard PLC 5 and a detected position, by a position proportional gain Kpp. The position proportional gain Kpp of the position controller 41 is one of the servo parameters to be adjusted.

Next, the speed controller 42 performs, for example, proportional-integral control (PI control). Specifically, the integral amount of the speed deviation, which is the deviation between the speed command calculated by the position controller 41 and the detected speed, is multiplied by the speed integral gain Kvi, and the sum of the calculation result and the speed deviation is multiplied by the speed proportional gain Kvp to calculate the torque command. The speed proportional gain Kvp and the speed integral gain Kvi of the speed controller 42 are also one of the servo parameters to be adjusted. The speed controller 42 may also perform P control instead of PI control. In this case, the speed proportional gain Kvp of the speed controller 42 is one of the servo parameters to be adjusted. Next, the current controller 43 outputs a current command based on the torque command calculated by the speed controller 42, and the motor 2 is driven and controlled thereby. The current controller 43 includes a filter (first-order low-pass filter) related to the torque command and one or more notch filters, and has a cutoff frequency related to the performance of these filters as a servo parameter to be adjusted.

The control structure of the servo driver 4 includes a speed feedback system in which the speed controller 42, the current controller 43, and the facility device 6 are forward elements, and further includes a position feedback system in which the speed feedback system and the position controller 41 are forward elements. With this control structure, the servo driver 4 can servo-control the motor 2 to follow the position command supplied from the standard PLC 5.

On the other hand, the processing structure for the simulation process (hereinafter referred to as the "simulation system") possessed by the adjustment unit 12 of the adjustment device 10 will be described based on the lower part (b) of FIG. 2. The simulation process is a process for calculating the response of the motor 2 when a predetermined servo parameter is set in the servo driver 4. Then, the servo parameters to be set in the servo driver 4 can be determined using the simulation results by the adjustment device 10. The simulation system possessed by the adjustment device 10 is a system including a model structure related to the facility device 6. The simulation system corresponds to the configuration of the control system shown in FIG. 1, and includes a model position control unit 51, a model speed control unit 52, a model current control unit 53, and a machine model unit 54. The model position control unit 51 corresponds to the position controller 41 of the servo driver 4, the model speed control unit 52 corresponds to the speed controller 42 of the servo driver 4, the model current control unit 53 corresponds to the current controller 43 of the servo driver 4, and the machine model unit 54 corresponds to the facility device 6. In the simulation system, similar to the servo driver 4, the position deviation between the position command pcmd and the response position psim, which is the output of the system, is input to the model position control unit 51, which outputs a speed command vcmd. Then, the speed deviation between the speed command vcmd and the response speed vsim, which is the output of the machine model unit 54, is input to the model speed control unit 52, which outputs a torque command τcmd. Then, the torque command τcmd is input to the model current control unit 53, which outputs a current command ccmmd. Then, the current command ccmmd is input to the machine model unit 54, which outputs the response speed vsim and the response position psim, which is the integration result thereof.

The adjustment device 10 having such a simulation system adjusts the settings of the model position control unit 51, model speed control unit 52, and model current control unit 53 in the simulation system and performs simulation processing, thereby making it possible to adjust the servo parameters set in the actual position controller 41, speed controller 42, and current controller 43.

Next, a method for adjusting servo parameters between the facility equipment 6 (servo driver 4) and the adjustment device 10, which are located at remote locations (locations R1 and R2 as described above), will be described with reference to Fig. 3. The method for adjusting servo parameters shown in Fig. 3 is basically performed before the facility equipment 6 is officially operated by the servo control of the servo driver 4, but it can also be applied to a case where the servo parameters need to be adjusted again after the facility equipment 6 has been officially operated once, taking into account various circumstances such as a problem that has occurred in the facility equipment 6.

First, in S10, provisional parameters are set in the servo driver 4. These provisional parameters are servo parameters that enable measurement of the frequency response of the motor 2 and position control for adjustment, which will be described later. In other words, the provisional parameters do not necessarily fully reflect the mechanical conditions in the equipment 6, but are provisional parameters that enable measurement of the frequency response and position control. Therefore, it is preferable to set the inertia ratio of the motor 2 in the equipment 6 (the ratio of the inertia of the load device 3 to the inertia of the motor 2) as the provisional parameters. Generally, the inertia ratio corresponds to the speed loop gain, so by setting the inertia ratio, it is possible to expect a certain degree of suitable servo control of the motor 2. However, in reality, since friction and mechanical stiffness exist in the load device 3, it is necessary to adjust the servo parameters by the adjustment device 10 to obtain the optimal speed loop gain, as will be described later. In addition, servo parameters other than the inertia ratio can also be provisionally set as appropriate within the range in which the above-mentioned acceleration and deceleration operation is possible.

Next, in S11, the sampling period is determined in consideration of the fast Fourier transform process of the frequency analysis process performed later by the adjustment device 10. Here, the relationship between the sampling period and the frequency analysis will be described based on FIG. 4. The left diagram (a) of FIG. 4 is a diagram showing the frequency analysis result of the frequency response when the sampling period is relatively short (for example, 125 μs). On the other hand, the right diagram (b) of FIG. 4 is a diagram showing the frequency analysis result of the frequency response when the sampling period is relatively long (for example, 500 μs). Note that the number of data points is the same in both diagrams. When the sampling period is shortened, the frequency band that can be measured becomes wider, but the frequency resolution becomes coarse, so that the gain measurement is not good, especially in the low frequency band. For example, as can be seen by comparing the area C1 in (a) with the area C3 in (b), the gain peak in the low frequency band cannot be measured well in the short sampling period. Also, as can be seen by comparing the area C2 in (a) with the area C4 in (b), the resonance point in the facility device 6 cannot be measured in the long sampling period.

As such, the frequency analysis results obtained from the frequency response differ depending on the sampling period, so there is a risk that the suitability of the servo parameters set in the servo driver 4 cannot be properly determined depending on the sampling period during measurement. In particular, when attempting to adjust the servo parameters away from the installation location of the facility device 6, it is not possible to directly grasp the behavior of the machine, such as vibrations and abnormal noises, and it is necessary to rely on data such as frequency analysis results. In such cases, how to set the sampling period during measurement becomes an extremely important issue.

Therefore, in this embodiment, the sampling period is determined as follows.
(Step 1) Measure the frequency response of the motor 2 at a relatively short provisional sampling period, perform frequency analysis (provisional frequency analysis), and extract the resonance point related to the facility device 6. Then, set the lower limit period (shortest period) of the sampling period so that the resonance point with the highest frequency can be covered. For example, the lower limit period of the sampling period is set so that a frequency band with a predetermined margin added to the resonance frequency of the resonance point shown in area C2 of FIG. 4A can be measured.
(Step 2) Next, the upper limit period (longest period) of the sampling period is set so that the vicinity of the zero cross frequency of the speed open loop can be suitably measured using the above-mentioned provisional frequency analysis. For example, the upper limit period of the sampling period is set so that the frequency band where the gain starts to decrease, which is shown in area C1 in (a) and area C3 in (b) of Fig. 4, plus a predetermined margin, can be measured.

Next, in S12, the frequency response of the motor 2 is measured at each of the sampling periods determined in S11. The measurement of the frequency response can be realized by a known technique. In addition, time series data related to at least one of the speed command, torque command, and position deviation when positioning control involving acceleration and deceleration operation to reach the maximum rotation speed of the motor 2 is performed is also measured. These time series data are data for a predetermined period including the timing when the motor 2 stops in the position control. In adjusting the servo parameters, it is often required to suppress vibrations because vibrations when the motor 2 stops in the facility device 6 have an undesirable effect on abnormal noise and control accuracy. Therefore, by including time series data for a predetermined period including the timing when the motor 2 stops, for the above parameters that have a correlation with the vibration of the facility device 6 in the time series data, it becomes possible to adjust the servo parameters favorably by the adjustment device 10.

Then, in S13, the measured frequency response (frequency response at each sampling period) and time series data related to the facility device 6 are transmitted to the adjustment device 10. Furthermore, in S13, the servo parameters at the time when the frequency response was measured, i.e., the provisional parameters, are also transmitted to the adjustment device 10. The adjustment device 10 receives these data via the communication unit 13 (processing of S14). The processes from S14 to S17 described below are processes performed by the adjustment device 10.

In S15, a fast Fourier transform process is performed on each frequency response transmitted from the servo driver 4, and a final frequency analysis result is obtained. The frequency analysis result is obtained by the acquisition unit 11. The specific frequency analysis result is described with reference to FIG. 5. First, a fast Fourier transform process is performed on the frequency response measured at the lower limit period determined in the above step 1. Of the results of this process, the vicinity of the resonant frequency of the resonant point is set as a threshold, and the result on the higher frequency side is set as response 1. Furthermore, a fast Fourier transform process is performed on the frequency response measured at the upper limit period determined in the above step 2. Of the results of this process, the result on the lower frequency side than the threshold is set as response 2. Then, by combining both responses, the final frequency analysis result shown in FIG. 5 is obtained. Note that a well-known smoothing technique (for example, averaging data for a certain period) may be applied so that the data does not become discontinuous when combining the two responses.

In S16, the adjustment unit 12 adjusts the servo parameters through the simulation process described above using the frequency analysis results obtained in S15 and the provisional parameters sent from the servo driver 4. For example, the servo parameters are adjusted while performing the simulation process so as to suppress the gain peak around 10 to 15 Hz and the resonance point near 600 Hz. Furthermore, the time-series data sent to the adjustment device 10 in S13 is also used to adjust the servo parameters. For example, if the time-series data includes data related to a speed command when the motor is stopped, the position loop gain and the speed loop gain are adjusted so that the vibration when the motor is stopped is kept within an acceptable level.

When the adjustment of the servo parameters is completed, in S17, the adjusted parameters are transmitted to the facility device 6 via the communication unit 13 of the adjustment device 10. The received adjusted servo parameters are then set in the servo driver 4 and used for servo control of the motor 2 (processing in S18).

The series of processes from S15 to S16 may be automatically executed by the adjustment device 10, or alternatively, the user may operate the adjustment device 10 to execute each process. In the above embodiment, the frequency analysis process is performed by the adjustment device 10, but instead, the frequency analysis process may be performed by the servo driver 4, and the analysis result may be transmitted to the adjustment device 10 in S13. In this case, the acquisition unit 11 acquires the frequency analysis result via the communication unit 13.

<Appendix 1>
A method for remotely adjusting servo parameters related to servo control of a motor (2) in an equipment device (6) to which the motor (2) is attached from an adjustment location (R2) different from a location (R1) where the equipment device (6) is installed, comprising:
a first step (S15) of acquiring a frequency analysis result of a frequency response of the motor (2) measured in each of at least two sampling periods in a state in which provisional parameters including a parameter related to an inertia ratio of the motor (2) are provisionally set in the facility device (6);
a second step (S16) of adjusting the servo parameters through a simulation process related to the facility device (6) based on the provisional parameters and the frequency analysis results corresponding to the at least two sampling periods at the adjustment location (R2);
A third step (S17) of transmitting the adjusted servo parameters to the facility device (6);
A method for adjusting servo parameters, including:

<Appendix 2>
An adjustment device (10) for remotely adjusting servo parameters related to servo control of a motor (2) in an equipment device (6) to which the motor (2) is attached from an adjustment location (R2) different from a location (R1) where the equipment device (6) is provided, comprising:
an acquisition unit (11) that acquires a frequency analysis result of a frequency response of the motor (2) measured in at least two sampling periods in a state in which provisional parameters including a parameter related to an inertia ratio of the motor (2) in the facility device (6) are provisionally set;
an adjustment unit (12) that adjusts the servo parameters through a simulation process related to the facility device based on the provisional parameters and the frequency analysis results corresponding to the at least two sampling periods;
A transmitting unit (13) that transmits the adjusted servo parameters to the facility device (6);
An adjustment device comprising:

2 Motor 4 Servo driver 6 Facility device 10 Adjustment device

Claims (8)

1. A method for remotely adjusting servo parameters related to servo control of a motor in an equipment device to which a motor is attached, from an adjustment location different from a location where the equipment device is installed, comprising:
a first step of acquiring a frequency analysis result of a frequency response of the motor measured in at least two sampling periods in a state in which provisional parameters including a parameter related to an inertia ratio of the motor are provisionally set in the facility device;
a second step of adjusting the servo parameters at the adjustment location through a simulation process related to the facility device based on the provisional parameters and the frequency analysis results corresponding to the at least two sampling periods;
a third step of transmitting the adjusted servo parameters to the facility device;
A method for adjusting servo parameters, including: In the first step, a measurement result of the frequency response is obtained, and a predetermined fast Fourier transform process is performed on the measurement result at the adjustment location to obtain the frequency analysis result.
2. The method for adjusting servo parameters according to claim 1. the at least two sampling periods are determined based on a tentative frequency analysis of a frequency response of the motor measured at a tentative sampling period while driving the motor before the frequency analysis result is obtained in the first step;
3. The method for adjusting servo parameters according to claim 1 or 2. The at least two sampling periods are determined based on a resonant frequency of the facility device and a speed open loop formed in a servo control of the motor.
The servo parameter adjustment method according to claim 3. A fourth step of acquiring time series data of a predetermined parameter related to an event occurring in the facility device,
In the second step, the servo parameters are adjusted based on the provisional parameters, the frequency analysis result, and time series data of the predetermined parameters.
The method for adjusting servo parameters according to any one of claims 1 to 4. The time series data of the predetermined parameter is time series data related to at least one of a speed command, a torque command, and a position deviation during a predetermined period including a time when the motor is stopped when the motor is subjected to position control.
The servo parameter adjustment method according to claim 5. An adjustment device for remotely adjusting servo parameters related to servo control of a motor in an equipment device to which a motor is attached from an adjustment location different from a location where the equipment device is installed, comprising:
an acquisition unit that acquires a frequency analysis result of a frequency response of the motor measured in at least two sampling periods in a state in which provisional parameters including a parameter related to an inertia ratio of the motor are provisionally set in the facility device;
an adjustment unit that adjusts the servo parameters through a simulation process related to the facility device based on the provisional parameters and the frequency analysis results corresponding to the at least two sampling periods;
A transmitting unit that transmits the adjusted servo parameters to the facility device;
An adjustment device comprising: The at least two sampling periods are determined based on a resonance frequency of the facility device obtained by a tentative frequency analysis of a frequency response of the motor measured at a tentative sampling period while driving the motor, and a speed open loop formed in a servo control of the motor.
The adjustment device according to claim 7.

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