Control parameter adjustment device
First Claim
1. A control parameter adjustment device comprising:
- a hardware processor; and
a non-transitory computer readable recording medium storing a program which, when executed by the hardware processor, causes the control parameter adjustment device to;
generate a position command;
calculate a drive command such that a response position of a driven object follows the position command;
generate, by using a model expressed by two or more different types of parameters, a correction command for correcting a response error that is a difference between the position command and the response position;
correct the model by using a combination of values of the parameters by which the response error is minimized, the combination of the values of the parameters being from among a plurality of combinations of the values of the parameters;
drive the driven object in accordance with the drive command and the correction command; and
receive a feedback signal indicative of the response position of the driven object from the driven object as the two or more different types of parameters are sequentially changed, and select the combination of the values of the parameters by which the response error is minimized based on the feedback signal, to thereby correct the model.
1 Assignment
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Accused Products
Abstract
A control parameter adjustment device includes a command-value generation unit that generates a position command; a servo control unit that calculates a drive command such that a response position of a driven object follows the position command; a correction model unit that generates a correction command for correcting a response error that is a difference between the position command and the response position by using a model expressed by two or more types of parameters; and a parameter search unit that corrects the model by using a combination of values of the parameters, by which the response error is minimized, among a plurality of combinations of values of the parameters. The control parameter adjustment device drives the driven object on the basis of the drive command and the correction command.
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Citations
16 Claims
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1. A control parameter adjustment device comprising:
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a hardware processor; and a non-transitory computer readable recording medium storing a program which, when executed by the hardware processor, causes the control parameter adjustment device to; generate a position command; calculate a drive command such that a response position of a driven object follows the position command; generate, by using a model expressed by two or more different types of parameters, a correction command for correcting a response error that is a difference between the position command and the response position; correct the model by using a combination of values of the parameters by which the response error is minimized, the combination of the values of the parameters being from among a plurality of combinations of the values of the parameters; drive the driven object in accordance with the drive command and the correction command; and receive a feedback signal indicative of the response position of the driven object from the driven object as the two or more different types of parameters are sequentially changed, and select the combination of the values of the parameters by which the response error is minimized based on the feedback signal, to thereby correct the model. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A control parameter adjustment device comprising:
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a hardware processor; and a non-transitory computer readable recording medium storing a program which, when executed by the hardware processor, causes the control parameter adjustment device to; generate a position command; calculate a drive command such that a response position of a driven object follows the position command; generate, by using a model expressed by two or more different types of parameters, a correction command for correcting a response error that is a difference between the position command and the response position; correct the model by using a combination of values of the parameters by which the response error is equal to or less than an allowable value, the combination of the values of the parameters being from among a plurality of combinations of the values of the parameters; drive the driven object in accordance with the drive command and the correction command; and receive a feedback signal indicative of the response position of the driven object from the driven object as the two or more different types of parameters are sequentially changed, and select the combination of the values of the parameters by which the response error is equal to or less than the allowable value based on the feedback signal, to thereby correct the model. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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Specification