公开(公告)号：EP3699709A1

公开(公告)日：2020-08-26

申请号：EP18868301.5

申请日：2018-10-12

申请人： Omron Corporation

发明人： NAKAJIMA, Kenji ,  EGI, Mamoru

IPC分类号： G05B23/02 ,  G05B19/4063 ,  G05B19/4069 ,  G05B19/409 ,  H02P29/00

摘要： Measurement data is managed such that the measurement data can be visualized and recorded in association with a condition set during servo control adjustment. The adjustment device obtains the parameter setting condition and measurement data in association with each other, and saves drawing information based on the measurement data and the setting condition as the same file content.

公开(公告)号：EP3220214B1

公开(公告)日：2018-10-17

申请号：EP17160348.3

申请日：2017-03-10

申请人： OMRON Corporation

发明人： MORI, Yasumoto ,  EGI, Mamoru ,  SATO, Fumiaki ,  ARRATE UGIDOS, Aimar ,  LLIBRE TUR, Pere ,  HERAS VIAGA, Federico

IPC分类号： G05B11/42 ,  G05B13/02

CPC分类号： G05B6/02 ,  G05B13/024

摘要： A control device for tuning a servo motor is suggested. The control device comprises a calculation unit configured to determine a current proportional speed gain of the servo motor and to calculate a stabilization time ratio based on a current stabilization time of the servo motor and a target stabilization time, a determination unit configured to select a gain determination process based on the calculated stabilization time ratio, to determine a next proportional speed gain using the selected gain determination process starting from the current proportional speed gain, wherein the calculation unit is further configured to update parameters of the servo motor according to the determined next proportional speed gain, and a control unit configured to generate a control signal for controlling the servo motor for driving a load based on the updated parameters.

公开(公告)号：EP3376312A1

公开(公告)日：2018-09-19

申请号：EP18152099.0

申请日：2018-01-17

申请人： OMRON CORPORATION

发明人： SATO, Fumiaki ,  EGI, Mamoru

IPC分类号： G05B13/04

CPC分类号： B25J9/1653 ,  B25J9/1633 ,  B25J9/1664 ,  G05B13/042 ,  G05B19/231 ,  G05B19/404 ,  G05B19/4062 ,  G05B2219/34015 ,  G05B2219/42336 ,  G05B2219/42342

摘要： A processing device (10) is provided and electrically connected to a drive controller (4) for driving a control object (6). The drive controller (4) has a predetermined control structure (460) that includes a feedback system (400) and a control model part (450), and that enables model follow-up control according to the control models, and has the predetermined control structures (460) corresponding to the control objects (6), respectively. The processing device (10) determines a common control gain to set a predetermined control gain in the control model part (450) of each predetermined control structure (460) corresponding to the control objects (6) to the common control gain for all the control model parts (450) when synchronous control of the control objects (6) is performed, and instructs the drive controller (4) to set the common control gain for the control model part (450) corresponding to each predetermined control structure (460).

公开(公告)号：EP3220219A1

公开(公告)日：2017-09-20

申请号：EP17152038.0

申请日：2017-01-18

申请人： Omron Corporation

发明人： MORI, Yasumoto ,  EGI, Mamoru ,  SATO, Fumiaki

IPC分类号： G05B19/042 ,  G05B17/02

CPC分类号： G05B13/042 ,  G05B17/02 ,  G05B19/0426 ,  G05B2219/23401 ,  G05B2219/23446

摘要： The invention supports the easy and appropriate setting of a plurality of control parameters. A setting support device of the invention includes: a test action instruction part, for changing at least one value among control parameters, so as to enable a servo driver to actually control test actions, or controlling test actions by utilizing the simulation of a hypothetical model; and a performance index calculation part, for working out performance indexes of the control of the servo driver according to a result of test actions.

摘要翻译： 本发明支持多个控制参数的简单和适当的设置。 本发明的设定支援装置包括：测试动作指示部，用于变更控制参数中的至少一个值，以使伺服驱动器能够实际控制测试动作，或者通过利用假想模型的模拟来控制测试动作 ; 以及性能指标计算部分，用于根据测试行为的结果来计算出伺服驱动器的控制的性能指标。

公开(公告)号：EP3220215A1

公开(公告)日：2017-09-20

申请号：EP16382113.5

申请日：2016-03-14

申请人： Omron Corporation

发明人： MORI, Yasumoto ,  EGI, Mamoru ,  SATO, Fumiaki ,  ARRATE UGIDOS, Aimar ,  LLIBRE TUR, Pere ,  HERAS VIAGA, Federico

IPC分类号： G05B13/02 ,  G05B11/42

CPC分类号： G05B6/02 ,  G05B13/024

摘要： A control device for tuning a servo motor is suggested. The control device comprises a calculation unit configured to determine a current proportional speed gain of the servo motor and to calculate a stabilization time ratio based on a current stabilization time of the servo motor and a target stabilization time, a determination unit configured to select a gain determination process based on the calculated stabilization time ratio, to determine a next proportional speed gain using the selected gain determination process starting from the current proportional speed gain, wherein the calculation unit is further configured to update parameters of the servo motor according to the determined next proportional speed gain, and a control unit configured to generate a control signal for controlling the servo motor for driving a load based on the updated parameters.

摘要翻译： 建议调整伺服电机的控制装置。 所述控制装置包括计算单元，所述计算单元被配置为确定所述伺服电机的当前比例速度增益并且基于所述伺服电机的电流稳定时间和目标稳定时间来计算稳定时间比率，确定单元，所述确定单元被配置为选择增益 基于计算出的所述稳定时间比确定所述伺服电机的参数，以使用从所述当前比例速度增益开始的所述选择增益确定过程来确定下一个比例速度增益，其中，所述计算单元还被配置为根据所确定的下一个 比例速度增益;以及控制单元，被配置为基于更新的参数生成用于控制用于驱动负载的伺服电机的控制信号。

公开(公告)号：EP3182230A3

公开(公告)日：2017-08-23

申请号：EP16200688.6

申请日：2016-11-25

申请人： OMRON CORPORATION

发明人： MORI, Yasumoto ,  EGI, Mamoru ,  KAWANISHI, Yasutomo ,  ONO, Yasushi ,  MIYAGUCHI, Shota

IPC分类号： G05B13/02 ,  G05B19/416

CPC分类号： G05B19/402 ,  G05B13/024 ,  G05B19/416 ,  G05B2219/34013 ,  G05B2219/41077 ,  G05B2219/41123 ,  G05B2219/41163

摘要： Control that is less likely to cause an overshoot is performed when an actual inertia value is yet to be determined. A development support apparatus (10) sets a ratio of a position proportional gain to a velocity proportional gain to a value smaller than a ratio set when a servo driver (20) has determined an actual inertia value of a load machine (40).

摘要翻译： 当实际惯量值尚未确定时，执行不太可能引起过冲的控制。 显影辅助装置（10）将位置比例增益与速度比例增益的比率设定为小于伺服驱动器（20）确定了负载机械（40）的实际惯性值时设定的比率的值。

公开(公告)号：EP3731403A1

公开(公告)日：2020-10-28

申请号：EP18893249.5

申请日：2018-11-27

申请人： Omron Corporation

发明人： EGI, Mamoru

IPC分类号： H02P5/46 ,  G05D3/12

摘要： Provided is a synchronization control device that can control a mechanical system with good track followability. A control unit for each shaft of the synchronization control device includes: a delay time compensator which delays a position command to an FB torque command generation unit, and of which equivalent time constant is approximately the same as an equivalent time constant as a gain compensator. The synchronization control device also includes a phase adjustment unit, which adjusts a phase of at least one of the position commands, in a previous stage of each control unit, so that the time until the position command, input to each control unit, is output from the delay time compensator, becomes approximately the same.

公开(公告)号：EP3726303A1

公开(公告)日：2020-10-21

申请号：EP18887317.8

申请日：2018-12-12

申请人： Omron Corporation

发明人： EGI, Mamoru

IPC分类号： G05B17/02 ,  G05B13/04 ,  G05B11/36

摘要： 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.

公开(公告)号：EP3726301A1

公开(公告)日：2020-10-21

申请号：EP18888916.6

申请日：2018-12-14

申请人： Omron Corporation

发明人： EGI, Mamoru

IPC分类号： G05B13/04

摘要： The present invention provides a control device that executes model predictive control related to a predetermined control target corresponding to an actual target device which is an actual target of servo control in order to cause an output of the actual target device to track a predetermined command. The control device includes: an integrator which receives input of a deviation between the predetermined command and an output of the predetermined control target; and a model predictive control unit which has a prediction model that defines a correlation between a predetermined state variable and an input to the predetermined control target in a form of a predetermined state equation, and which performs model predictive control based on the prediction model according to a predetermined evaluation function in a prediction section having a predetermined time width using the output of the integrator as an input.

公开(公告)号：EP3702860A1

公开(公告)日：2020-09-02

申请号：EP18870652.7

申请日：2018-10-12

申请人： Omron Corporation

发明人： NAKAJIMA, Kenji ,  EGI, Mamoru

IPC分类号： G05B23/02 ,  G05B19/4063 ,  G05B19/4069 ,  G05B19/409 ,  H02P29/00

摘要： 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.