Control parameter automatic adjustment apparatus

• US 6,861,814 B2
• Filed: 09/20/2002
• Issued: 03/01/2005
• Est. Priority Date: 04/25/2002
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Hayashi, Eiji
• Primary Examiner(s): Leykin, Rita
• Application Number:
  US10/247,516
• Publication Number:
  US 20030201745A1
• Time in Patent Office: 893 Days
• Field of Search: 318/560, 318/561, 318/567, 318/568.1, 318/568, 318/23, 318/632, 318/565, 318/646, 318/600, 318601-605, 702/56, 702/64, 702/65, 702/94
• US Class Current: 318/561
• CPC Class Codes: G05B 13/025 using a perturbation signal

Abstract

A control parameter automatic adjustment apparatus acquires a movable range of a drive shaft of a drive system, and automatically generates a test movement program to automatically adjust a control parameter to the drive system even though the movable range changes.

Claims

1. A control parameter automatic adjustment apparatus which adjusts a control parameter of a servo system including a drive system and a controller for controlling the drive system, the control parameter automatic adjustment apparatus comprising:

a parameter acquisition unit which acquires a movable range parameter of a drive shaft of the drive system;

a test movement program generator which generates a test movement program based on the movable range parameter acquired;

an operation data acquisition unit which acquires information on how the drive system is operating when the drive system is operated using the test movement program;

an operation data analyzer which analyzes the information acquired; and

a parameter adjuster which adjusts the control parameter of the servo system based on analysis by the operation data analyzer of the information acquired, wherein the control parameter is a friction parameter of the drive system.

2. The control parameter automatic adjustment apparatus according to claim 1, wherein the parameter acquisition unit acquires the parameter from the controller.

3. The control parameter automatic adjustment apparatus according to claim 1, further comprising a parameter input unit used by a user to input the parameter, wherein the parameter acquisition unit acquires the input parameter from the parameter input unit.

4. The control parameter automatic adjustment apparatus according to claim 1, wherein the information is response of the drive system, the control parameter automatic adjustment apparatus further comprising a parameter estimator which estimates the parameter based on the response, wherein the parameter acquisition unit acquires the parameter from the parameter estimator.

5. A control parameter automatic adjustment apparatus which adjusts a control parameter of a servo system including a drive system and a controller for controlling the drive system, the control parameter automatic adjustment apparatus comprising:

a parameter acquisition unit which acquires a mass parameter of a drive shaft of the drive system;

a test movement program generator which generates a test movement program based on the mass parameter acquired;

an operation data acquisition unit which acquires information on how the drive system is operating when the drive system is operated using the test movement program;

an operation data analyzer which analyzes the information acquired; and

a parameter adjuster which adjusts the control parameter of the servo system based on analysis by the operation data analyzer of the information acquired, wherein the control parameter is a spring constant parameter of the drive system.

6. The control parameter automatic adjustment apparatus according to claim 5, wherein the parameter acquisition unit acquires the parameter from the controller.

7. The control parameter automatic adjustment apparatus according to claim 5, further comprising a parameter input unit used by a user to input the parameter, wherein the parameter acquisition unit acquires the input parameter from the parameter input unit.

8. The control parameter automatic adjustment apparatus according to claim 5, wherein the information is response of the drive system, the control parameter automatic adjustment apparatus further comprising a parameter estimator which estimates the parameter based on the response, wherein the parameter acquisition unit acquires the parameter from the parameter estimator.