Omron Corporation

Omron Corporarion

Mamoru Egi

Yasushi Ono

Yasumoto Mori

Yasutomo Kawanishi

Kenji Nakajima

Fumiaki Sato

Masahito Tanaka

Shota Miyaguchi

Takumi Fujioka

Kentaro Urabe

Yasushi Ohno

Masaki Namie

Mikiko Manabe

Hitoshi Fukuhara

Sota Kaida

Maki Nishimura

Pere Llibre

Federico Heras

Takanobu Matsuura

Hiroyuki Harada

Aimar Arrate

Pere Llibre Tur

Federico Heras Viaga

Aimar Arrate Ugidos

A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies a combined evaluation index value representative of the evaluation index values for the plurality of load device states, identified by the first identification means, on the basis of the evaluation index values for the plurality of load device states; and a display control means that displays, on a screen of a display, the combined evaluation index value identified by the second identification means.

Setting support device

A processing apparatus acquires a first rise transition that is a rise transition of the temperature of a winding and a second rise transition that is a rise transition of the temperature detected by a temperature sensor in a state where voltage application for raising the temperature of the winding to a predetermined temperature is performed, determines a predetermined temperature characteristic model by calculating a predetermined parameter on the basis of the second rise transition, and further determines a winding temperature characteristic model by calculating a winding related parameter on the basis of the first rise transition.

Processing device, and determination method for winding temperature calculation model

A measurement device measures a frequency response of a servo system, applies predetermined oscillation are associated with each other to the servo system, identifies, from a result of oscillation application, a pair of a first oscillation application signal and a first response signal, and identifies a pair of a second oscillation application signal and a second response signal. Then, a first frequency response that is a frequency response is calculated on the basis of the first oscillation application signal and the first response signal, a second frequency response that is a frequency response is calculated on the basis of the second oscillation application signal and the second response signal, and the first frequency response and the second frequency response are synthesized.

Control device

A control device is configured to cause an output of a target device to be servo-controlled to follow a predetermined command in a predetermined working coordinate system. The control device includes: a target model controller that possesses a target model in which the target device is modeled based on the predetermined working coordinate system and simulates and outputs an output according to the predetermined working coordinate system by using the target model; a model predictive controller that possesses a predictive model in which a correlation between a predetermined state variable that is related to the target model possessed by the target model controller and based on the predetermined working coordinate system and a control input to the target model controller is defined in a form of a predetermined state equation based on the predetermined working coordinate system; and a calculator that calculates a target command from the output of the target model controller, based on the predetermined working coordinate system for each control axis and in accordance with a geometric relationship of a machine structure of the target device. The control device supplies the target command to the target device. This configuration can perform the model predictive control to supply a target command for causing the output of the target device to appropriately follow a predetermined command.

Programmable logic controller that supplies a target command to control a target device

A technique facilitates presetting of parameters for controlling a control target including a load device that has machine parameters such as inertia changeable in accordance with its posture or state. A parameter setting support apparatus () for supporting a control apparatus () in control parameter setting includes a first specifier () that specifies evaluation index values indicating control stability or control performance of the control apparatus () based on frequency response characteristics of a control target () in postures of the load device () having maximum inertia and minimum inertia, and a second specifier () that specifies a combined evaluation index value representing an evaluation index value in the posture of the load device () in operation based on the evaluation index values specified, by the first specifier (), in the postures of the load device () having maximum inertia and minimum inertia.

Parameter setting assistance device, parameter setting assistance method

A feedback gain and a speed feed-forward gain are adjusted. A method for adjusting control parameters for a control device that performs servo control on a control target includes calculating an upper limit of a feedback gain of a feedback signal within a range in which a predetermined index for the feedback gain satisfies a predetermined target value with a speed feed-forward gain for speed feed-forward control set at a predetermined reference value, setting the feedback gain at an adjustment initial value lower than the upper limit, setting the speed feed-forward gain at the highest value within a settable range, and increasing the feedback gain from the adjustment initial value within a range in which the feedback gain does not exceed the upper limit with at least the speed feed-forward gain set at a predetermined increased value.

Parameter adjustment method for adjusting control parameters for device that performs servo control

A model prediction control part of a control device includes an obstacle avoidance control unit that operates when there are a plurality of actual obstacles to be avoided. The obstacle avoidance control unit decides the position of a virtual obstacle from the positions of the plurality of actual obstacles acquired by an acquisition part so as to be positioned between the plurality of actual obstacles, and performs model prediction control by using, as the stage cost, the addition result of a standard cost and a virtual obstacle evaluation term for which a prescribed function, which uses, as parameters, at least the position of the virtual obstacle and the position of a moving body, is multiplied by a virtual obstacle weight. Using this configuration, when the moving body is caused to follow with respect to a target trajectory by the model prediction control, a collision with an obstacle can be avoided suitably.

The present invention is a control device which includes a filter unit for performing an attenuation process at a predetermined frequency on a control input based on a predetermined target command, generates the control input through model predictive control executed by a model predictive control unit and causes an output of a predetermined control object to follow the predetermined target command. A prediction model defines a correlation between the control input and predetermined extended state variables including a state variable related to a predetermined control object and a predetermined filter state variable related to the filter unit, and a predetermined evaluation function for model predictive controls configured to calculate a state quantity cost that is a stage cost with respect to state variables except the predetermined filter state variable among the predetermined extended state variables, and a control input cost that is a stage cost related to the control input.

Provided is an interpolation technique in which command values chronologically input can be interpolated without increasing a jerk and with less follow-up delay with respect to a command. A control unit () of a servo driver () has a function of sequentially generating, on the basis of four command values from x(k&#x2212;2) to x(k+1), a kth interpolation function for calculating command values in a kth (&#x2265;3) time interval and a function of generating, as the kth interpolation function, a fifth-order equation with respect to time in which function values at a start time and an end time of the kth time interval match x(k) and x(k+1), respectively, and in which a second derivative value at a start time of the kth time interval matches a second derivative value at an end time of a (k&#x2212;1)th time interval corresponding to a (k&#x2212;1)th interpolation function.

Command value interpolation apparatus and servo driver

Provided is a control device for performing model prediction control. A position of a virtual obstacle associated with a real obstacle is set based on a position of the real obstacle acquired by a first acquisition part so that the virtual obstacle is positioned substantially symmetrically to the real obstacle with reference to a following target trajectory of a control target. Stage costs calculated by a prescribed evaluation function include: a first stage cost associated with a first probability potential field representing a probability that the real obstacle is present based on the position of the real obstacle; and a second stage cost associated with a second probability potential field representing a probability that the virtual obstacle is present based on the position of the virtual obstacle and having a probability value equal to or greater than that of the first probability potential field.

A setting method according to the present invention determines a desired time response in an optimum servo control structure corresponding to a servo control structure of a control target, calculates a predetermined gain corresponding to the desired time response, and calculates a first weighting coefficient Qf, a second weighting coefficient Q, and a third weighting coefficient R of a predetermined Riccati equation according to the Riccati equation on the basis of the predetermined gain. The first weighting coefficient Qf, the second weighting coefficient Q, and the third weighting coefficient R are set as a weighting coefficient corresponding to a terminal cost, a weighting coefficient corresponding to a state quantity cost, and a weighting coefficient corresponding to a control input cost, respectively, in a predetermined evaluation function for model prediction control.

Method for setting control parameters for model prediction control for control target with integrator

The processing device includes: a temperature transition acquisition unit that acquires rising transition of the temperature of the winding in a state in which a first voltage is applied in order to raise a temperature of the winding to a first temperature and further acquires falling transition of the temperature of the winding in a state in which a second voltage is applied in order to lower the temperature of the winding to a second temperature that is lower than the first temperature after the temperature of the winding converges to the first temperature; and a decision unit that calculates stator-related parameters on the basis of the falling transition to decide a stator temperature characteristic mode and further calculates winding-related parameters on the basis of the rising transition and a stator temperature characteristic model to decide a winding temperature characteristic model.

Processing device

To improve the usability so that the result of adjustment of a plurality of axes operating in cooperation is easily evaluated. An adjustment apparatus displays a graph indicating a temporal change of measurement data for each control axis and a control instruction on the same time base in a first area in a screen, and displays a control trajectory of a control position of each control axis, the control instruction, and a target trajectory of a target position in the screen.

Servomotor adjustment device and servomotor adjustment method

A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies, for each control device state, a combined evaluation index value representative of the evaluation index values in the plurality of load device states, identified for that control device state by the first identification means; and a recommended-value output means that identifies and outputs a recommended value of at least one control parameter on the basis of the combined evaluation index value identified for each control device state by the second identification means.

A servo control method includes a step of adjusting a feedback gain used in feedback control of a controlled object, the feedback control being performed based on difference information between a target value concerning an instruction and a feedback signal from the controlled object, so that the controlled object is operated by following the instruction, and a step of adjusting a feedforward gain used in feedforward control of the controlled object after the adjustment of the feedback gain.

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Otsu, Japan

Mamoru Egi