Fanuc Corporation

Shougo Shinoda

Satoshi Ikai

Ryoutarou Tsuneki

Tsutomu Nakamura

Keisuke Tsujikawa

The invention provides a servomotor controller that makes it possible to reduce compensation delay even when a dead band is provided. The servomotor controller includes a motion acquiring unit that acquires a motion of the servomotor, an acceleration amount acquiring unit that acquires an acceleration amount of the servomotor, a compensating unit that compensates a motion of the servomotor, and a compensation start determining unit that determines a start of the compensation by the compensating unit responsive to the motion of the servomotor, wherein the compensation start determining unit has a dead band unit that sets a dead band range which is a range of a predetermined value relative to the motion of the servomotor, and the dead band unit changes the dead band range based on the acceleration amount acquired by the acceleration amount acquiring unit.

Servomotor controller

A control apparatus of a machine tool includes: a slide position control unit configured to control a slide according to operation patterns; a pressure command generation unit configured to generate a pressure command for a die cushion according to the operation patterns; a pressure detection unit configured to detect an actual pressure of the die cushion; a die cushion speed control unit configured to control the die cushion, based on an error between the pressure command and the actual pressure; and a command reach determination unit configured to determine whether or not the error is greater than a pressure threshold, wherein the slide position control unit sets, based on a result of the determination by the command reach determination unit, a waiting period between the operation pattern at the time of the determination and the next operation pattern, wherein the slide is kept at its position during the waiting period.

Control apparatus of machine tool for processing object to be processed on die cushion

A motor drive apparatus includes a converter; an inverter for drive; a power storage device configured to supply DC power to a direct current link or to store DC power from the direct current link; a power consumption estimation unit configured to acquire a power consumption estimation value which is an estimation value of a total power consumption at a time point later, by a predetermined time, than a value at a present time point, the total power consumption being obtained as a sum of an output of the servomotor for drive, a winding loss in the servomotor for drive, a loss in the converter and a loss in the inverter for drive; and a power storage device control unit configured to control power supply and power storage of the power storage device in accordance with the power consumption estimation value.

Motor drive apparatus including power storage device

A machine learning device that performs reinforcement learning with respect to a servo control apparatus that controls target device having a motor, including: outputting action information including adjustment information of coefficients of a transfer function of a controller gain to a controller included in the servo control apparatus; acquiring, from the servo control apparatus, state information including a deviation between an actual operation of the target device and a command input to the controller, a phase of the motor, and the coefficients of the transfer function of the controller gain when the controller operates the target device based on the action information; outputting a value of a reward in the reinforcement learning based on the deviation included in the state information; and updating an action-value function based on the value of the reward, the state information, and the action information.

Machine learning device that adjusts controller gain in a servo control apparatus

A motor drive system includes a converter configured to convert power between AC power in a power source and DC power in a DC link, an inverter for drive configured to convert power between the DC power in the DC link and AC power serving as drive power or regenerative power for a servomotor for drive, a motor control unit for drive configured to control the servomotor for drive connected to the inverter for drive, a power storage device configured to store the DC power from the DC link or to supply the DC power to the DC link, and a base holding energy change unit configured to change a base holding energy defined as a reference value of a holding energy of the power storage device, in accordance with the holding energy of the power storage device.

Motor drive system including power storage device

A motor drive system includes a converter configured to convert power between AC power in a power source and DC power in a DC link, an inverter for drive configured to convert power between the DC power and AC power in a servomotor for drive, a motor control unit for drive configured to control the servomotor for drive, a power storage device configured to store the DC power from the DC link or supplies the DC power to the DC link, and a determination unit configured to determine whether the holding energy of the power storage device is lower than a threshold for energy shortage determination, wherein when the holding energy is lower than the threshold for energy shortage determination, the motor control unit for drive controls the servomotor for drive by setting an additional standby period in which the servomotor for drive is inactive in a predetermined operation pattern.

Provided is a machine learning device configured to perform machine learning related to optimization of a compensation value of a compensation generation unit with respect to a servo control device configured to control a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine, and that includes at least one feedback loop, a compensation generation unit configured to generate a compensation value to be applied to the feedback loop, and an abnormality detection unit configured to detect an abnormal operation of the servo motor, wherein, during a machine learning operation, when the abnormality detection unit detects an abnormality, the compensation from the compensation generation unit is stopped and the machine learning device continues optimization of the compensation value generated by the compensation generation unit.

Machine learning device, control device, and machine learning method

A servomotor control device in a processing machine that processes an object to be processed on a press supporting unit driven by a servomotor includes: a pressure detection unit configured to detect an actual pressure applied on the object to be processed; a pressure command generation unit configured to generate a pressure command that commands a pressure that the object to be processed preferably receives; a pressure control unit configured to generate a speed command for the servomotor on the basis of the pressure command generated by the pressure command generation unit and the actual pressure detected by the pressure detection unit; and a speed command limiting unit configured to limit the speed command generated by the pressure control unit using a predetermined value.

Servomotor control device in processing machine

A motor drive system includes: a converter connected to a DC link; an inverter for drive connected to the DC link; a power storage device configured to store a DC power from the DC link or supplies a DC power to the DC link; a torque limit value calculation unit configured to calculate a torque limit value of a servomotor for buffer in the power storage device on the basis of a rotation speed of the servomotor for buffer and a DC power amount stored or supplied by the power storage device; and a motor control unit for buffer configured to perform a torque control with respect to the servomotor for buffer while changing an upper limit value and a lower limit value of a torque command using the torque limit value so as to adjust a DC power amount stored or supplied by the power storage device.

A control system of a machine tool which machines a work includes: a numerical control device which controls the drive axis of the machine tool based on control data; a machined surface measurement device which measures the machined surface of the work; and a data processing device, and the data processing device includes a drive axis control data acquisition portion which acquires, from the numerical control device, the chronological control data when the work is machined; a machined surface measurement data acquisition portion which acquires spatial machined surface measurement data after the machining of the work measured by the machined surface measurement device; and a data-associating processing portion which associates the chronological control data acquired by the drive axis control data acquisition portion and the spatial machined surface measurement data acquired by the machined surface measurement data acquisition portion with each other.

Control system of machine tool

A motor drive system includes: a flywheel; a servomotor for buffer which includes a plurality of independent windings and allows the flywheel to rotate; a plurality of inverters for buffer respectively connected to the windings; a plurality of converters respectively connected to the DC links; inverters for drive which perform power conversion between a DC power in the DC links and an AC power which is a drive power or a regenerative power of the servomotor for drive; and a motor control unit for buffer configured to control driving of the servomotor for buffer by controlling power conversion of the respective inverters for buffer respectively connected to the windings.

Motor drive system including servomotor for buffer including plural windings

A numerical control system of a machine tool includes an analysis device. The analysis device includes acquisition portions which acquire chronological speed control data when the work is machined and which acquire spatial machined surface measurement data after the machining of the work, a data-associating processing portion which associates the speed control data and the machined surface measurement data with each other, a machined surface failure detection portion which detects failures on the machined surface of the work, an identification portion which identifies the speed control data of failure locations corresponding to the machined surface measurement data of the failure locations, a failure interval detection portion which detects the interval of the failures and a calculation portion which calculates the frequency of vibrations based on a machining speed based on the speed control data of the failure locations and the interval of the failures.

A servomotor control device includes a connection mechanism configured to connect a servomotor and a driven body, and transmit power of the servomotor to the driven body, a position command generation unit configured to generate a position command value for the driven body, a motor control unit configured to control the servomotor using the position command value, a force estimation part configured to estimate drive force acting on the driven body at a connecting part with the connection mechanism, a switching part configured to switch between a first force estimated value estimated by the force estimation part and a second force estimated value that is a fixed value, and a compensation amount generation part configured to generate a compensation amount for compensating the position command value generated by the position command generation part, based on the first or second force estimated value that was switched to by the switching part.

Servomotor control device, servomotor control method, and computer-readable recording medium

A servomotor control device includes: a servomotor; a driven body that is driven by way of the servomotor; a connection mechanism that connects the servomotor and the driven body to transmit power of the servomotor to the driven body; and a motor control unit that controls the servomotor, in which the motor control unit includes: a force acquisition section that acquires a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; and a rigidity estimation section that estimates a magnitude of rigidity of the connection mechanism, based on position information of the servomotor and a drive force acquired by the force acquisition section when causing the servomotor to rotate in a state mechanically fixing the driven body.

Servomotor control device, and servomotor control system

A motor drive system includes a power supply unit configured to supply DC power to a DC link, a servo amplifier for drive configured to convert the DC power in the DC link to AC power and supplies the AC power to the servomotor for drive as a driving power, a power storage device configured to store DC power from the DC link or supplies DC power to the DC link, an abnormality detection unit configured to detect the abnormality of the power storage device, and a control unit configured to, when the abnormality detection unit detects the abnormality of the power storage device, control the operation of the servo amplifier for drive such that the output of the servomotor for drive is limited to a value smaller than the output before the abnormality detection by the abnormality detection unit.

Growing community of inventors

Yamanashi, Japan

Shougo Shinoda