OUTPUT DEVICE, CONTROL DEVICE AND METHOD OF OUTPUTTING LEARNING PARAMETER

• US 20200133226A1
• Filed: 09/06/2019
• Published: 04/30/2020
• Est. Priority Date: 10/25/2018
• Status: Active Application

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: TSUNEKI, Ryoutarou, IKAI, Satoshi, SHIMODA, Takaki
• Application Number:
  US16/563,116
• Publication Number:
  US 20200133226A1
• Time in Patent Office: Days
• CPC Class Codes: G05B 13/0265 the criterion being a learning criterion
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/35524 Approach data and machining data
• CPC Class Codes: G06N 20/00 Machine learning
• CPC Class Codes: G06N 3/006 based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]
• CPC Class Codes: G06N 3/08 Learning methods

Abstract

An output device includes: an information acquisition unit which acquires, from a machine learning device that performs machine learning on a servo control device for controlling a servo motor driving the axis of a machine tool, a robot or an industrial machine, a parameter or a first physical quantity of a constituent element of the servo control device that is being learned or has been learned; and an output unit which outputs at least one of any one of the acquired first physical quantity and a second physical quantity determined from the acquired parameter, a time response characteristic of the constituent element of the servo control device and a frequency response characteristic of the constituent element of the servo control device, and the time response characteristic and the frequency response characteristic are determined with the parameter, the first physical quantity or the second physical quantity.

Claims

1. An output device comprising:

an information acquisition unit which acquires, from a machine learning device that performs machine learning on a servo control device for controlling a servo motor driving an axis of a machine tool, a robot or an industrial machine, a parameter or a first physical quantity of a constituent element of the servo control device that is being learned or has been learned; and

an output unit which outputs at least one of any one of the acquired first physical quantity and a second physical quantity determined from the acquired parameter, a time response characteristic of the constituent element of the servo control device and a frequency response characteristic of the constituent element of the servo control device,

wherein the time response characteristic and the frequency response characteristic are determined with the parameter, the first physical quantity or the second physical quantity.

2. The output device according to claim 1, wherein the output unit includes a display unit which displays, on a display screen, the first physical quantity, the second physical quantity, the time response characteristic or the frequency response characteristic.

3. The output device according to claim 1, wherein an instruction to adjust the parameter or the first physical quantity of the constituent element of the servo control device based on the first physical quantity, the second physical quantity, the time response characteristic or the frequency response characteristic is provided to the servo control device.

4. The output device according to claim 1, wherein a machine learning instruction to perform, by changing or selecting a learning range, the machine learning of the parameter or the first physical quantity of the constituent element of the servo control device based on the first physical quantity, the second physical quantity, the time response characteristic or the frequency response characteristic is provided to the machine learning device.

5. The output device according to claim 1, wherein an evaluation function value which is used in the learning of the machine learning device is output.

6. The output device according to claim 1, wherein information on a position error which is output from the servo control device is output.

7. The output device according to claim 1, wherein the parameter of the constituent element of the servo control device is a parameter of a mathematical formula model or a filter.

8. The output device according to claim 7, wherein the mathematical formula model or the filter is included in a velocity feedforward processing unit or a position feedforward processing unit, and the parameter includes a coefficient in a transfer function of the filter.

9. A control device comprising:

the output device according to claim 1;

the servo control device which controls the servo motor that drives the axis of the machine tool, the robot or the industrial machine; and

the machine learning device which performs the machine learning on the servo control device.

10. The control device according to claim 9, wherein the output device is included in one of the servo control device and the machine learning device.

11. A method of outputting a learning parameter of an output device which is machine learned in a machine learning device for a servo control device that controls a servo motor for driving an axis of a machine tool, a robot or an industrial machine, the method comprising:

acquiring, from the machine learning device, a parameter or a first physical quantity of a constituent element of the servo control device which is being learned or has been learned;

outputting at least one of any one of the acquired first physical quantity and a second physical quantity determined from the acquired parameter, a time response characteristic of the constituent element of the servo control device and a frequency response characteristic of the constituent element of the servo control device; and

determining the time response characteristic and the frequency response characteristic with the parameter, the first physical quantity or the second physical quantity.