WO2020137522A1 - Dispositif de commande de synchronisation, système de commande de synchronisation, procédé de commande de synchronisation et dispositif de simulation - Google Patents

Dispositif de commande de synchronisation, système de commande de synchronisation, procédé de commande de synchronisation et dispositif de simulation Download PDF

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Publication number
WO2020137522A1
WO2020137522A1 PCT/JP2019/048289 JP2019048289W WO2020137522A1 WO 2020137522 A1 WO2020137522 A1 WO 2020137522A1 JP 2019048289 W JP2019048289 W JP 2019048289W WO 2020137522 A1 WO2020137522 A1 WO 2020137522A1
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WO
WIPO (PCT)
Prior art keywords
spindle
control mechanism
servo control
control
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/048289
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English (en)
Japanese (ja)
Inventor
大介 松永
英彦 関本
徹 小河原
純児 島村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Omron Corp
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Omron Corp
Omron Tateisi Electronics Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2019163280A external-priority patent/JP7310465B2/ja
Application filed by Omron Corp, Omron Tateisi Electronics Co filed Critical Omron Corp
Priority to US17/298,856 priority Critical patent/US11822313B2/en
Priority to EP19906291.0A priority patent/EP3876044A4/fr
Priority to CN201980079285.3A priority patent/CN113168135B/zh
Publication of WO2020137522A1 publication Critical patent/WO2020137522A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • the present invention relates to a synchronous control device, a synchronous control system, a synchronous control method, and a simulation device that perform synchronous control.
  • a technology is known that performs synchronous control of multiple servo motors such as machine tools.
  • position information master shaft feedback position
  • slave shaft servo control mechanism in order to operate the slave shaft in synchronization with the master shaft, position information (master shaft feedback position) of the master shaft is given to the slave shaft servo control mechanism as a slave shaft command position.
  • a future spindle predicted value is calculated from a dynamic characteristic model of the spindle control system and input/output values (spindle command position, spindle feedback position), and It is disclosed that the accuracy of the synchronous drive is improved by calculating the slave axis command position based on this.
  • One aspect of the present invention has been made in view of the above problems, and an object thereof is to realize synchronous control that further improves the accuracy of synchronous drive of the slave axis.
  • a synchronous control device based on time-series target position information for the spindle servo control mechanism, a spindle command calculation unit that calculates a spindle command position for the spindle servo control mechanism, the spindle command position, A spindle feedback position in the spindle servo control mechanism, and a predicted spindle command position after a predetermined time, which is calculated based on the target position information, are input, and the spindle servo control mechanism is determined by a dynamic characteristic model of the spindle servo control mechanism.
  • a slave spindle for calculating a slave spindle command position for the slave spindle servo control mechanism, based on the spindle spindle position for calculating the predicted spindle feedback position of the spindle spindle controller and the predicted spindle spindle feedback position of the spindle servo control mechanism calculated by the spindle model portion. And a command calculation unit.
  • the synchronous control device includes a recording unit that stores information on dynamic characteristic models of servo control mechanisms of a plurality of models, and information of dynamic characteristic models of the spindle servo control mechanism on the plurality of models stored in the recording unit. And a dynamic characteristic model information acquisition unit that selects and acquires from the dynamic characteristic model information of the servo control mechanism.
  • the synchronous control device may further include a dynamic characteristic model information acquisition unit that acquires information on the dynamic characteristic model of the spindle servo control mechanism via a communication network.
  • the synchronization control device further includes a model information acquisition unit that acquires model information of the spindle servo control mechanism connected to the synchronization control device, and the dynamic characteristic model information acquisition unit is configured by the model information acquisition unit.
  • the configuration may be such that dynamic characteristic model information corresponding to the acquired model information is acquired.
  • the various servo control mechanisms are automatically set to appropriately perform the synchronous control by using the synchronous control device, which further enhances the convenience for the user.
  • the synchronous control device may further include a dynamic characteristic model information generation unit that operates the spindle servo control mechanism connected to the synchronous control device to generate a dynamic characteristic model of the spindle servo control mechanism. Good.
  • the slave axis servo control mechanism may have a plurality of control axes. Then, the synchronous control device performs the processing by the spindle command calculation unit, the processing by the spindle model unit, and the processing by the slave axis command calculation unit, the spindle servo control mechanism and the slave axis servo control mechanism. In the first transition period immediately before switching from the asynchronous control to the synchronous control by the switching unit, and/or the switching unit switching between the synchronous control and the asynchronous control in which the synchronous control is not performed.
  • the slave axis is controlled so that the acceleration of at least one control axis of the plurality of control axes of the slave axis servo control mechanism continuously changes. It may be configured to further include a switching time command calculation unit that calculates the slave axis command position for the servo control mechanism.
  • the asynchronous control immediately before the synchronous control is started, and/or the asynchronous control immediately after the synchronous control is released.
  • the servo control is performed so as to suppress the discontinuous change in the acceleration of the slave axis servo control mechanism, that is, the generation of a steep jerk.
  • the vibration of the slave axis servo control mechanism at the time of switching can be suitably suppressed, and the transition between the synchronous control and the asynchronous control can be smoothly realized.
  • the switching time command calculation unit may control all the control axes of the plurality of control axes included in the slave axis servo control mechanism in the first transition period and/or the second transition period.
  • the slave axis command position for the slave axis servo control mechanism may be calculated so that the acceleration of the slave axis continuously changes.
  • a simulation device is a simulation device connected to the synchronous control device according to any one of the above, wherein the spindle command calculation unit and the spindle model are provided for a plurality of predetermined times different from each other.
  • Section, the slave axis command calculation section, the master axis servo control mechanism, and the slave axis servo control mechanism by simulating the operations of the master axis servo position in the master axis servo control mechanism for a plurality of mutually different predetermined times.
  • a simulation processing unit that executes a simulation of a slave axis feedback position in the slave axis servo control mechanism; a display unit that displays a plurality of simulation results by the simulation processing unit for a plurality of mutually different predetermined times;
  • the receiving unit that receives an input for selecting one of the simulation results from the user from the user, and the transmitting unit that transmits the parameter corresponding to the simulation result received by the receiving unit to the synchronization control device. ..
  • a synchronous control system is any of the above synchronous control devices, a main axis servo control mechanism connected to the synchronous control device, a slave axis servo control mechanism connected to the synchronous control device, It is characterized by including.
  • a synchronous control method based on time-series target position information for the spindle servo control mechanism, a spindle command calculation step of calculating a spindle command position for the spindle servo control mechanism, the spindle command position, A spindle feedback position in the spindle servo control mechanism, and a predicted spindle command position after a predetermined time, which is calculated based on the target position information, are input, and the spindle servo control mechanism is determined by a dynamic characteristic model of the spindle servo control mechanism.
  • a slave axis command position for the slave servo control mechanism is calculated based on the predicted spindle feedback position of the spindle servo control mechanism calculated by the spindle model calculation step. And a slave axis command calculation step.
  • the slave axis servo control mechanism may have a plurality of control axes, and the synchronous control method, a process by the spindle command computing unit, a process by the spindle model unit, A step of switching between synchronous control of the master axis servo control mechanism and the slave axis servo control mechanism, in which processing by the slave axis command calculation section is performed, and asynchronous control in which the synchronous control is not performed;
  • the plurality of slave axis servo control mechanisms include Of the control axes, the step of calculating the slave axis command position for the slave axis servo control mechanism so that the acceleration of at least one of the control axes continuously changes.
  • vibration of the slave axis servo control mechanism at the time of switching can be suitably suppressed, and a transition between synchronous control and asynchronous control can be smoothly realized.
  • the synchronous control device According to the synchronous control device, the synchronous control system, the synchronous control method, and the simulation device of the present invention, it is possible to realize synchronous control with improved accuracy of synchronous drive of the slave axis.
  • FIG. 1 It is a schematic diagram showing a synchronous control system and a synchronous control device concerning Embodiment 1 of the present invention. It is a control block diagram showing a control logic of a synchronous control system and a synchronous control device concerning Embodiment 1 of the present invention. It is a figure for demonstrating operation
  • (A) to (c) are examples of results when the synchronous control device according to the first embodiment performs synchronous control
  • (d) to (f) are cases where synchronous control is performed by the synchronous control device of the comparative example. It is an example of the result of.
  • FIG. 6 is a schematic diagram showing a synchronization control system and a synchronization control device according to Embodiments 2 to 5 of the present invention.
  • FIG. 6 is a schematic diagram showing a function of a control unit of the simulation device of the synchronous control system according to the second to third embodiments of the present invention. It is a figure which shows the example of a screen of the display part of the simulation apparatus of the synchronous control system which concerns on Embodiment 3 of this invention. It is a control block diagram showing the control logic of the synchronous control apparatus of a comparative example.
  • FIG. 10 is a diagram showing a flow of processing executed by the synchronous control device shown in FIG. 9 in accordance with a control cycle.
  • 10 is a first flowchart relating to synchronization control executed by the synchronization control device shown in FIG. 9.
  • 10 is a second flowchart relating to synchronization control executed by the synchronization control device shown in FIG. 9.
  • FIG. 10 is a diagram showing a transition of acceleration of the control axis of the robot when switching from asynchronous control to synchronous control in the synchronous control device shown in FIG. 9.
  • FIG. 1 is a schematic diagram showing the overall device configuration of the synchronous control system 1 according to the first embodiment.
  • the synchronization control system 1 includes a synchronization control device 10, a master axis servo control mechanism 20, a slave axis servo control mechanism 30 according to the first embodiment, and a communication network 40 that mediates communication between these devices.
  • the synchronous control device 10 controls two control target devices, the master axis servo control mechanism 20 and the slave axis servo control mechanism 30, but the synchronous control device 10 controls more devices. You may go.
  • the synchronous control device 10 has a control unit 11, an interface 12, and a recording unit 13.
  • the interface 12 communicates with other devices via the communication network 40.
  • the recording unit 13 can store a motion control program or the like to be executed by the control unit 11.
  • the recording unit 13 can hold dynamic characteristic models of various controlled devices.
  • the synchronous control device 10 that performs synchronous control includes a control unit 11 that calculates the slave axis command position u of the slave axis servo control mechanism 30 for each cycle using the spindle feedback position ym of the master axis servo control mechanism 20.
  • the synchronization control device 10 transmits the slave axis command position u to the slave axis servo control mechanism 30 every cycle to synchronize the slave axis servo control mechanism 30 with the master axis servo control mechanism 20.
  • the synchronous control device 10 is, for example, a programmable logic controller (PLC).
  • the recording unit 13 is, for example, a semiconductor memory, a magnetic memory such as a hard disk, or another recording medium.
  • the master axis servo control mechanism 20 and the slave axis servo control mechanism 30 are, for example, a servo control stage and a robot arm. More specifically, the operation of grasping the work on the servo control stage with the robot arm is an example requiring synchronous control.
  • FIG. 2 is a control block diagram showing a control logic when the synchronous control device 10 according to the first embodiment controls the master axis servo control mechanism 20 and the slave axis servo control mechanism 30.
  • the spindle servo control mechanism 20 includes a spindle motor Pm (spindle) such as a servo motor, and a spindle control unit Cm that controls the spindle motor Pm.
  • the spindle motor Pm is provided with, for example, an encoder, and outputs a spindle feedback position ym that is position information of the spindle.
  • the spindle control unit Cm performs feedback control of the spindle motor Pm using the spindle feedback position ym according to the spindle command position r from the synchronous control device 10.
  • the slave axis servo control mechanism 30 includes a slave axis motor Ps (slave axis) such as a servo motor, and a slave axis control unit Cs that controls the slave axis motor Ps.
  • the slave shaft motor Ps is provided with an encoder, for example, and outputs a slave shaft feedback position ys, which is position information of the slave shaft.
  • the slave axis control unit Cs performs feedback control of the slave axis motor Ps using the slave axis feedback position ys in accordance with the slave axis command position u from the synchronous control device 10.
  • the control unit 11 includes a spindle command computing unit Cmm as a functional block, a spindle model unit Mm, and a slave axis command computing unit Cms.
  • the control unit 11 realizes the functions of these units by executing the motion control program stored in the recording unit 13, for example.
  • the spindle command position r calculated by the spindle command calculation unit Cmm is transmitted to the spindle control unit Cm.
  • the spindle model section Mm receives the spindle feedback position ym from the spindle motor Pm.
  • the slave axis command position u calculated by the slave axis command calculator Cms is transmitted to the slave axis controller Cs.
  • values transmitted from one block to another block are shown in a specific period i.
  • the spindle command position r(i) is input to the spindle control unit Cm, and the spindle motor Pm outputs the spindle feedback position ym(i).
  • the spindle control unit Cm controls the operation of the spindle motor Pm based on the spindle command position r and the spindle feedback position ym that are sequentially input. This is normal feedback control.
  • the spindle command calculation unit Cmm reads the spindle target position from a motion control program or the like that defines the operation of the spindle or the like stored in the recording unit 13 and calculates the spindle command position r (spindle command calculation step).
  • Fig. 3 is a graph for explaining the calculation method.
  • the spindle command calculation unit Cmm calculates a spindle target position for each unit period from a spindle target position that is time-series target position information for the spindle servo control mechanism, and determines the spindle target position r(i), r for each period. (I+1), r(i+2). . . To judge.
  • the spindle command calculation unit Cmm outputs the spindle command position r(i) of the period i to the spindle control unit Cm, and the spindle model unit Mm outputs the spindle command position r(i+k) of the period i+k (after a predetermined time).
  • the predicted spindle command position of is output.
  • the period i+k is a future period that is k unit periods after the period i.
  • the spindle model unit Mm includes a dynamic characteristic model of the spindle servo control mechanism 20 that estimates the spindle feedback position from the spindle command position r by referring to the spindle feedback position ym.
  • the spindle model unit Mm is a future spindle feedback position until the period i+k from the spindle command position r until the period i+k and the spindle feedback position ym until the period i received from the spindle command calculation unit Cmm.
  • Predicted spindle feedback positions ym * (i+1), ym * (i+2). . . Simulates ym * (i+k) and outputs it to the slave axis command calculator Cms (master axis model calculation step).
  • the slave axis command calculation unit Cms calculates the slave axis command position u, the slave axis feedback position ys and the predicted master spindle feedback position ym * (i+1), ym * (i+2). . .
  • the slave axis command position u(i) in the period i is calculated from ym * (i+k) and output to the slave axis control unit Cs (slave axis command calculation step).
  • the slave axis command position u(i) to be calculated is a value adjusted from the spindle feedback position ym(i) using the above other values.
  • the slave axis command calculation unit Cms can be configured to perform the same calculation processing as a combination of a converter of a comparative example (prior art) described later and a preview controller, but other known techniques can be used. You may apply suitably.
  • the predicted value of the future spindle feedback position given to the slave axis command calculation unit Cms is a value simulated from the future spindle command position r by the dynamic characteristic model of the spindle servo control mechanism 20.
  • the future spindle command position r is a correct value actually provided to the spindle servo control mechanism 20.
  • the dynamic characteristic model of the spindle servo control mechanism 20 can be accurately constructed by a well-known established method. Therefore, the predicted value of the future spindle feedback position will be accurate. Therefore, the synchronous control device 10 according to the first embodiment can improve the accuracy of synchronous drive of the slave shaft.
  • the predictor uses the predicted spindle feedback positions ym * (i+1), ym * (i+2). . . Calculate ym * (i+k).
  • the converter and the preview controller (corresponding to the slave axis command calculation unit Cms of the synchronous control device 10) use the slave axis command position u, the slave axis feedback position ys, and the predicted master axis feedback position ym * (i+1) up to the period i. ym * (i+2). . .
  • the slave axis command position u(i) in the period i is calculated from ym * (i+k) and output to the slave axis control unit Cs.
  • the predicted spindle feedback positions ym * (i+1), ym * (i+2). . . ym * (i+k) is calculated from the spindle command position r and the spindle feedback position ym up to the present. Therefore, the accuracy is inferior when compared with the synchronization control device 10 according to the first embodiment. Therefore, the accuracy of the synchronous drive of the slave shaft is lower than that of the synchronous control device 10.
  • FIG. 4 is a diagram showing an example of a result comparison when the synchronous control device 10 according to the first embodiment and the synchronous control device 90 of the comparative example perform synchronous control.
  • FIG. 4(a) An example of transitions of the spindle command position r, the spindle feedback position ym, and the slave spindle feedback position ys in the synchronous control device 10 is shown in FIG. 4(a), and a similar graph in the synchronous control device 90 is shown in FIG. 4(d). Be done.
  • FIGS. 4B and 4E show the time derivative (speed) of the spindle command position r, the spindle feedback position ym, and the slave spindle feedback position ys in the synchronous control device 10 and the synchronous control device 90, respectively. As shown in these graphs, this example is an example in which control is performed to accelerate the spindle and then decelerate the spindle.
  • FIGS. 4C and 4F show the position deviation ym-ys between the master and the slave in the synchronous control device 10 and the synchronous control device 90, respectively.
  • the timings of the change in the speed of the main shaft and the change in the speed of the slave shaft are more consistent. , The synchronization is done better.
  • the slave axis may not only be delayed from the master axis but may overtake, and tracking may not be smooth. In the synchronous control device 10 according to No. 1, tracking is smoother.
  • the synchronization control device 90 of the comparative example can also perform the synchronization control with relatively high accuracy.
  • the predicted value of the future spindle feedback position calculated from the spindle command position r up to the present and the spindle feedback position ym becomes inaccurate.
  • the tracking accuracy of the slave axis position is greatly reduced.
  • the slave axis command position u(i) can be calculated in consideration of the fact that the reversing operation is performed in the future even in such a case. High tracking accuracy.
  • the synchronization control device 10 it is possible to flexibly deal with various operations of the spindle and improve the accuracy of the synchronization control.
  • FIG. 5 is a schematic diagram showing the overall device configuration of a synchronous control system 2 of another embodiment.
  • the control unit 51 of the synchronization control device 50 of the synchronization control system 2 includes a model information acquisition unit 52, a dynamic characteristic model information acquisition unit 53, and a dynamic characteristic model information generation.
  • Each functional block of the unit 54 is provided.
  • the synchronous control system 2 includes a simulation device 60 in addition to the configuration of the synchronous control system 1 in the first embodiment.
  • the simulation device 60 transmits/receives information to/from the synchronization control device 10 via the communication network 40.
  • the simulation device 60 includes a simulation processing unit 61, an interface 62, a recording unit 63, a display unit 64, a reception unit 65, and a transmission unit 66.
  • the simulation processing unit 61 simulates the control system shown in the block diagram of FIG.
  • the interface 62 communicates with other devices via the communication network 40.
  • the recording unit 63 holds dynamic characteristic models of various controlled devices.
  • the display unit 64 displays various information such as simulation results.
  • the receiving unit 65 receives an operation performed on the simulation device 60 by a user.
  • the transmitting unit 66 transmits the information to the synchronization control device 50 through the interface 62.
  • the operation of the simulation processing unit 61 will be described based on FIG. 6 showing the configuration of the simulation processing unit 61 of the simulation device 60.
  • the simulation processing unit 61 includes a spindle command computing unit Cmm, a spindle model unit Mm, and a slave axis command computing unit Cms. Further, it has functional blocks of a spindle servo control mechanism simulation section Sm and a slave axis servo control mechanism simulation section Ss which are operation models of the spindle servo control mechanism 20 and the slave axis servo control mechanism 30.
  • the spindle servo control mechanism simulation unit Sm receives the spindle command position r from the spindle command calculation unit Cmm in place of the actual spindle servo control mechanism 20 in the synchronous control system 1, and outputs the spindle feedback position ym to the spindle model unit Mm. To do.
  • the slave axis servo control mechanism simulation unit Ss receives the slave axis command position u from the slave axis command calculation unit Cms and replaces the slave axis feedback position ys with the slave axis feedback position ys in place of the actual slave axis servo control mechanism 30 in the synchronous control system 1. Output to the axis command calculator Cms.
  • the simulation processing unit 61 of the simulation device 60 can simulate the operation of the synchronous control system 1 shown in FIG.
  • the model is extracted.
  • the dynamic characteristic model of the spindle servo control mechanism 20 is set in the spindle servo control mechanism simulation section Sm and the spindle model section Mm.
  • the dynamic characteristic model of the slave axis servo control mechanism 30 is set in the slave axis servo control mechanism simulation section Ss and the slave axis command calculation section Cms.
  • the simulation device 60 can freely perform the simulation of the operation of the synchronous control system including the spindle servo control mechanism 20 and the slave axis servo control mechanism 30 arbitrarily selected by the user.
  • the simulation result of the operation of the synchronous control system 1 by the simulation processing unit 61 is displayed on the display unit 64 and can be confirmed by the user.
  • various parameters to be selected or determined by the user for the work intended by the user such as a unit period of control, a communication cycle between the devices, and predictive control
  • An appropriate value for the pre-reading time (k unit period) or the like can be examined in advance.
  • the transmitting unit 66 of the simulation device 60 causes the dynamic characteristic model and each parameter of the master axis servo control mechanism 20 and the slave axis servo control mechanism 30 to be transmitted. Can be transmitted to the synchronization control device 10 through the interface 62.
  • control unit 51 of the synchronous control device 50 is provided with at least a functional block of the dynamic characteristic model information acquisition unit 53 in addition to the functional blocks of the control unit 11 according to the first embodiment.
  • Each functional block of the model information acquisition unit 52 and the dynamic characteristic model information generation unit 54 shown in FIG. 5 may also be provided in the control unit 51.
  • the dynamic characteristic model information acquisition unit 53 of the synchronous control device 10 receives, via the interface 12, the dynamic characteristic model and each parameter of the spindle servo control mechanism 20 and the slave axis servo control mechanism 30 transmitted from the simulation device 60.
  • the dynamic characteristic model information acquisition unit 53 sets these data in the spindle command calculation unit Cmm, the spindle model unit Mm, and the slave shaft command calculation unit Cms of the control unit 11 as the models and parameters determined in the simulation device 60. To do. In addition, the dynamic characteristic model information acquisition unit 53 saves these data in the recording unit 13 as appropriate.
  • the user can construct the synchronous control system after thoroughly examining the device selection and the parameter setting, and the convenience for the user is enhanced.
  • the simulation apparatus 60 selects appropriate parameters to be determined in the combination, It may be acquired from a cloud server through an internet line. It is also preferable that the display unit 64 has a function of presenting the obtained parameter value as a recommended value to the user.
  • the third embodiment will explain an example in which the user can easily determine the appropriate value for the prefetch time determined from the period described in the first embodiment, that is, the time difference between the period i+k and the period i.
  • the configurations of the synchronous control system 2 and the synchronous control device 50 according to the third embodiment are the same as those in the second embodiment.
  • the simulation processing unit 61 has a function of displaying a list of simulation results when the prefetch time is changed on the display unit 64.
  • FIG. 7 is a diagram showing an example of such a display screen on the display unit 64. The results when the look-ahead time is changed in three ways are arranged in three columns. In each column, the lower graph shows the position (main spindle command position r, main spindle feedback position ym, slave spindle feedback position ys) in the upper graph. Shows the speed (main axis command position r, main axis feedback position ym, time derivative of slave axis feedback position ys) at the same time.
  • the prefetch time is set to 0.3 (arbitrary unit)
  • the timings of speed changes of the master and slave axes match, which is the most appropriate.
  • the user can easily know the appropriate value of the prefetch time, which is a characteristic parameter relating to the synchronization control device of the present invention.
  • the transmission unit 66 can transmit to the synchronous control device 50 together with the dynamic characteristic model adopted by the selection of the device and other parameters.
  • the simulation device 60 has the dynamic characteristic models of various controlled devices in the recording unit 63 provided therein.
  • the dynamic characteristic models of various controlled devices are stored in the recording unit 13 of the synchronization control device 50. Therefore, in the synchronous control system of the fourth embodiment, it is possible to easily set the control logic according to the selected control target device in the control unit 11 of the synchronous control device 10 without including the simulation device 60.
  • the configuration of the synchronous control system according to the fourth embodiment does not necessarily have to include the simulation device 60 in the synchronous control system 2 shown in FIG.
  • the control unit 51 of the synchronization control device 50 is provided with at least a functional block of the dynamic characteristic model information acquisition unit 53 in addition to the functional blocks of the control unit 11 according to the first embodiment.
  • the dynamic characteristic model information acquisition unit 53 causes the recording unit 13 to operate according to the main-axis servo control mechanism 20 and the sub-axis servo control mechanism 30 selected by a user operation through a terminal or the like.
  • the control logic shown in FIG. 2 is set from the dynamic characteristic model held in the.
  • the control unit 51 of the synchronization control device 10 is further provided with a functional block of the model information acquisition unit 52.
  • the model information acquisition unit 52 recognizes the types of the connected spindle servo control mechanism 20 and slave axis servo control mechanism 30 via the interface 12 and the communication network. Then, according to the recognized main axis servo control mechanism 20 and slave axis servo control mechanism 30, the dynamic characteristic model information acquisition unit 53 controls the dynamic characteristic model held in the recording unit 13 from the control shown in FIG.
  • the logic may be set.
  • the dynamic characteristic model information acquisition unit 53 provides various parameters that should be determined appropriately in the combination of the model types of the selected spindle servo control mechanism 20 and slave axis servo control mechanism 30. It is also preferable to have a function of acquiring from a cloud server through an internet line and setting it in the control unit 11 or presenting it to the user as a recommended value.
  • the synchronization control device 10 has the recording unit 13 with the dynamic characteristic models of various control target devices.
  • the device to be controlled may be unknown, and in that case, setting the control logic is troublesome.
  • the configuration of the synchronous control system according to the fifth embodiment does not necessarily require the simulation device 60 in the synchronous control system 2 shown in FIG.
  • the control unit 51 of the synchronization control device 50 is provided with at least a functional block of the dynamic characteristic model information generation unit 54 in addition to the functional blocks of the control unit 11 according to the first embodiment.
  • the dynamic characteristic model information generating unit 54 causes the spindle that is the control target device.
  • the test spindle command position can be transmitted to the servo control mechanism 20.
  • the spindle servo control mechanism 20 is actually operated, and the dynamic characteristic model information generation unit 54 receives the spindle feedback position which is a response from the spindle servo control mechanism 20 to the test spindle command position.
  • the dynamic characteristic model information generation unit 54 can build a dynamic characteristic model of the controlled device by analyzing the response of the controlled device to the test spindle command position. The same applies to the case where the dynamic characteristic model of the slave axis servo control mechanism 30 is not included.
  • the constructed dynamic characteristic model can be held in the recording unit 13.
  • the synchronous control device 10 sets the control logic shown in FIG. 2 in the control unit 11 from the dynamic characteristic model of the control target device thus obtained.
  • control logic of the present invention can be easily set in the control unit 11 even when the dynamic characteristic model of the controlled device is not held.
  • FIG. 9 is a schematic configuration diagram of a control system 1 to which the synchronization control device 10 is applied
  • FIG. 10 is a diagram showing an image of functional units formed in the synchronization control device 10.
  • the synchronous control device 10 corresponds to an industrial controller that controls control targets (field devices) such as various types of equipment and devices.
  • the synchronization control device 10 is a kind of computer that executes a control calculation as described later.
  • a robot, a servo driver, and a motor are control targets for the synchronous control device 10.
  • synchronous control is performed between the robot and the servo driver and the motor.
  • the servo driver and the motor serve as the main axis servo control mechanism
  • the robot serves as the slave axis servo control mechanism. Therefore, based on the above-described embodiments, the reference number of the servo driver and the motor is “20”, and the reference number of the robot is “30”.
  • the servo driver 20 drives the motor 20 according to output data (for example, a position command or a speed command) from the synchronous control device 10.
  • the robot 30 may be a parallel robot, a SCARA robot, or an articulated robot.
  • the synchronous control device 10 is a control device configured to integrally servo-control the robot 30, the servo driver 20, and the motor 20.
  • the synchronization control device 10 exchanges data with one or more field devices via the communication network 40 or the like.
  • the synchronization control device 10 collects data (hereinafter also referred to as “input data”) collected or generated by various field devices (input process), data such as a command to the field device (hereinafter, “output data”). (Also referred to as “.”) (calculation process), a process of transmitting the generated output data to the target field device (output process), and the like.
  • the communication network 40 employs a bus or a network that performs fixed-cycle communication in which the arrival time of data is guaranteed.
  • EtherCAT registered trademark
  • the data exchanged between the synchronization control device 10 and the field device via the communication network 40 is updated at a very short cycle of several hundred ⁇ sec order to several tens msec order.
  • the update process of the exchanged data is also called an input/output refresh process.
  • the control application processing unit 130 and the IEC program processing unit 140 shown in FIG. 10 are functional units formed in the control unit 11 shown in FIG. 1, and the IEC program 151 and the application program 152 are the recording units shown in FIG. It is a program stored in the unit 13.
  • the synchronization control device 10 is a kind of computer that executes a predetermined control calculation as described above, and includes a processor and a memory necessary for the control calculation.
  • the processor is one form of the control unit 11 and includes a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), and the like.
  • the memory is one form of the recording unit 13, and includes, for example, a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory), an HDD (Hard Disk Drive) and an SSD (Solid State Drive). ) And other non-volatile storage devices.
  • the processor reads and executes various programs stored in the memory to realize control according to the control target and various processes described later.
  • the memory stores a user program (IEC program 151 and application program 152) created according to the manufacturing apparatus or equipment to be controlled, in addition to the system program for realizing the basic functions.
  • the IEC program 151 in the present application is a program in which the whole is scanned for each execution, and one or more command values are calculated for each execution.
  • the International Electrotechnical Commission: IEC including a program consisting of one or more instructions described in accordance with the international standard IEC61131-3.
  • the IEC program 151 includes instructions for sequence control and motion control.
  • the IEC program 151 as described above corresponds to an execution format in which all programs are executed (scanned) in each control cycle, and is suitable for control requiring immediacy and high speed.
  • the application program 152 in the present application is a control program for performing a specific machining or operation using a robot, and includes a program consisting of one or a plurality of instructions for realizing a control application by the robot. Specifically, it is distinguished from the IEC program 151.
  • the application program 152 relating to robot control is, for example, described in a robot language and employs an interpreter method in which it is sequentially executed line by line.
  • the synchronization control device 10 includes an IEC program processing unit 140, an interface 12, and a control application processing unit 130.
  • the interface 12 mediates exchange of data between the IEC program processing unit 140 and the control application processing unit 130 and field devices connected via the communication network 40.
  • the IEC program processing unit 140 executes (scans) the IEC program 151 for each predetermined control cycle to calculate one or more command values. That is, the IEC program processing unit 140 calculates the command value for each control cycle according to the IEC program 151.
  • the IEC program 151 is executed to servo-control a predetermined device including the motor 20.
  • the motion processing unit 142 provides a function of calculating a command value for each control cycle according to a motion command included in the IEC program 151. That is, the motion command included in the IEC program 151 includes a command for instructing behavior over a plurality of control cycles (for example, a command for drawing an orbit of the output of a predetermined device configured by the motor 20).
  • the motion processing unit 142 calculates a command value for each control cycle according to the instruction content of the executed motion command. That is, the motion processing unit 142 realizes the behavior instructed by the motion command by outputting the command value to the above-described predetermined device every control cycle.
  • control application processing unit 130 calculates a command value for controlling the control application based on the application program 152 and the like.
  • the control application processing unit 130 can also calculate and output the command value for the control application in synchronization with the calculation and output of the command value by the IEC program processing unit 140, or the command value of the IEC program processing unit 140 It is also possible to calculate and output the command value for the control application without being synchronized with the calculation and output. That is, the control application processing unit 130 executes the operation processing of the command value in synchronization with or asynchronously with the operation processing by the IEC program processing unit 140. The synchronization processing between the IEC program processing unit 140 and the control application processing unit 130 will be described later.
  • the interpreter 134 sequentially interprets at least a part of the application program 152 to generate an intermediate code, and has a buffer 133 for storing the generated intermediate code.
  • the intermediate code in the present application is a concept including an instruction for calculating a command value for each control cycle, and may include one or a plurality of instructions or one or a plurality of functions.
  • the motion processing unit 132 calculates the command value for each control cycle according to the intermediate code generated in advance by the interpreter 134 and stored in the buffer 133.
  • the instructions (codes) described in the application program 152 are sequentially executed, and therefore the operation cycle of the command value cannot be guaranteed.
  • the motion The processing unit 132 can calculate the command value for each control cycle.
  • a coordinate system according to each control application may be used for the command described in the intermediate code.
  • a shared memory 131 is provided to share data between the IEC program processing unit 140 and the control application processing unit 130.
  • a part or all of the processing result by the control application processing unit 130 is stored in the shared memory 131, and the IEC program processing unit 140 refers to the data stored in the shared memory 131 of the control application processing unit 130.
  • synchronous execution of the IEC program 151 for servo-controlling the motor 20 and the application program 152 for servo-controlling the robot 30 is realized.
  • the synchronous control can be appropriately set to the non-execution state according to the necessity of control, and the servo control of the motor 20 and the robot 30 in that case is also referred to as asynchronous control.
  • the interpreter 134 of the control application processing unit 130 sequentially executes the application program 152 in a cycle longer than the control cycle, for example, a cycle of twice the control cycle.
  • the motion processing unit 142 of the IEC program processing unit 140 and the motion processing unit 132 of the control application processing unit 130 both calculate the command value for each same control cycle. Therefore, the output of the command value from the synchronization control device 10 is performed in synchronization with each other in a predetermined control cycle.
  • the IEC program processing unit 140 and the control application processing unit 130 each have a motion processing unit for continuously controlling the movement of the actuator, and these motion processing units synchronously output the command value. By performing the calculation, both the control according to the IEC program 151 and the control according to the application program 152 can be executed in synchronization with the control cycle, whereby precise control is realized in control cycle units.
  • FIG. 11 is a diagram showing an example of program execution timings in the synchronization control device 10.
  • a high priority task with high priority processing in the upper stage of FIG. 11
  • a low priority task with low priority lower process in FIG. 11
  • Process is set.
  • the execution of the interface 12, the IEC program processing unit 140 and its motion processing unit 142, and the execution of the motion processing unit 132 of the control application processing unit 130 are set as high priority tasks, and the control application processing unit 130 is set.
  • the execution of the interpreter 134 is set as a low priority task.
  • the input/output refresh process B60 related to the interface 12 the execution process B40 of the IEC program 151, the command value calculation process B42 performed by the motion processing unit 142 according to the IEC program 151, and the motion processing unit 132 according to the application program 152.
  • the command value calculation process B32 is executed as a high-priority task.
  • the process B34 of sequentially interpreting the application program 152 is executed as a low priority task.
  • the high-priority task is repeatedly executed every predetermined control cycle T1.
  • the low priority task is executed each time the high priority task is not executed in each control cycle. That is, the execution time of the high-priority task is assigned to each control cycle, and the low-priority task is executed at times other than the execution time of the high-priority task.
  • the IEC program processing unit 140 executes (scans) the entire IEC program 151, and the sequence control is performed. 1 or a plurality of command values are calculated (execution process B40).
  • the motion processing unit 142 executes the motion process related to the motion command included in the IEC program 151 to calculate one or more command values for the motion command (execution process B42).
  • This execution process B42 includes the calculation process by the spindle command calculation unit Cmm described above.
  • the motion processing unit 132 of the control application processing unit 130 prepares a motion command for controlling the robot 30 according to the intermediate code stored in the buffer 133 (execution process B32).
  • the execution process B32 includes the calculation process by the above-described spindle model unit Mm and the calculation process by the slave axis command calculation unit Cms. Hereinafter, the same process is repeated every control cycle.
  • the timing at which the motion processing unit 132 reads the intermediate code from the buffer 133 does not have to be each control cycle. This is because when the read intermediate code includes an instruction that can calculate a command value over a plurality of control cycles T1, the intermediate code can be read at a time in the plurality of control cycles T1.
  • a command value set for the servo control of the motor 20 and a command value set for the servo control of the robot 30 are prepared.
  • These command values are basically reflected on the field side when the next control cycle arrives. That is, since the IEC program processing unit 140 and the control application processing unit 130 calculate the command value according to the input data in the same control cycle, the command value can be output in synchronization.
  • the interpreter 134 of the control application processing unit 130 sequentially executes the application program 152. That is, the interpreter 134 reads and analyzes the application program 152 with low priority.
  • the intermediate code generated by the interpreter 134 by analyzing the application program 152 is sequentially stored in the buffer 133 in consideration of the capacity of the buffer 133.
  • the intermediate code stored in the buffer 133 is sequentially referred to by the motion processing unit 132 of the control application processing unit 130, and is used to generate a command value in the arithmetic processing B32.
  • the interpreter 134 preliminarily generates an intermediate code for an integral multiple of the control cycle, which is the operation cycle of the high-priority task, in advance, without affecting the processing by the motion processing unit 132.
  • a command value for the control application can be calculated for each control cycle.
  • the interpreter 134 suspends the interpretation of the application program 152 before a predetermined control application synchronization cycle (an integral multiple of the control cycle) arrives.
  • data synchronization is performed between the IEC program processing unit 140 and the control application processing unit 130 to share data having consistency with both.
  • the interpreter 134 updates the data shared with the IEC program processing unit 140 for each synchronization cycle.
  • the input data and the output data acquired from the field side may also be updated (data synchronization).
  • the control application processing unit 130 side can control the robot 30 using the data acquired by the IEC program processing unit 140.
  • the control application synchronization cycle may have any length as long as it is set to an integral multiple of the control cycle. It is set as appropriate according to the precision of control required in the control application.
  • FIG. 12 is a flowchart regarding the processing of the high priority task described above
  • FIG. 13 is a flowchart regarding the processing of the low priority task described above.
  • the interface 12 executes an input/output refresh process (process of S101).
  • the command value (command value by B40, B42, B32, etc.) calculated in the immediately preceding control cycle T1 is output to the motor 20 and the robot 30, and the input data from them is acquired.
  • S102 it is determined whether or not the current control cycle matches the timing of data synchronization. If a positive determination is made there, data synchronization is executed between the IEC program processing unit 140 and the control application processing unit 130 (processing of S103). If a negative determination is made in S102, the process proceeds to S104.
  • the command value calculated and prepared by the series of processes of the high priority task shown in FIG. 12 is output to the field when the next control cycle T1 arrives. Then, the low-priority task shown in FIG. 13 is executed during the period after the end of the series of processes and before the arrival of the next control cycle T1.
  • the processing flow of the low priority task relates to the interpreting process of the application program 152 by the interpreter 134.
  • the control application processing unit 130 determines whether or not an intermediate code remains in the buffer 133. The determination is performed so that the intermediate code that exceeds the capacity of the buffer 133 is not generated. If an affirmative decision is made in S301, the low-priority task ends, and if a negative decision is made, the processing advances to S302.
  • the interpreter 134 reads a part of the application program 152. For example, one line of the code forming the application program 152 is read.
  • the code read by the interpreter 134 is interpreted and an intermediate code is generated.
  • the generated intermediate code is stored in the buffer 133 in S304. Note that, regarding the processes of S302 to S304, if there is no application program to be executed, these processes are not performed, and as a result, the intermediate code is not stored in the buffer 133.
  • the low-priority task having such a series of processes is repeated in the period in which the program execution time is assigned to itself.
  • the synchronous control device 10 executes the IEC program 151 and the application program 152 at the execution timing shown in FIG. It becomes possible to perform synchronous control.
  • the switching from the state where the synchronous control of the motor 20 and the robot 30 is not performed that is, the state of the asynchronous control to the state where the synchronous control is performed, will be described.
  • the switching from the asynchronous control to the synchronous control is executed by the switching unit formed in the control unit 11 (see FIG. 1).
  • the switching unit switches from asynchronous control to synchronous control based on a control program provided to the motor 20 and the robot 30, that is, a command regarding execution or cancellation of synchronous control included in the IEC program 151 and the application program 152.
  • a switch to control or a switch from synchronous control to asynchronous control is realized.
  • FIG. 9 when the output point of the field device controlled by the motor 20 (hereinafter, simply referred to as “output point of the motor 20”) is at the position MP1 and the output point of the robot 30 is at the position SP1, both of them are It is assumed to be in the asynchronous control state. From this state, when the output point of the motor 20 follows the locus ML1 to reach the position MP2 and the output point of the robot 30 follows the locus SL1 to reach the position SP2, synchronous control of both is started, FIG. 9 shows how the output point of the motor 20 follows the locus ML2 and the output point of the robot 30 follows the locus SL2 parallel to the locus ML2 in the state where the synchronization control is performed.
  • the motor 20 and the robot 30 whose output points are distant from each other are controlled so that the output points approach the positions MP2 and SP2 and the synchronous control of both is performed. Therefore, the switching processing by the switching unit is started when the output points of the motor 20 and the robot 30 reach the positions MP2 and SP2.
  • the robot 30, which is the slave axis servo control device since the control mode is switched from the asynchronous control to the synchronous control during the switching processing by the switching unit, the robot 30, which is the slave axis servo control device, is likely to generate vibration. When the vibration occurs, there is a possibility that the improvement effect of the tracking accuracy in the synchronous control by the calculation processing of the spindle command calculation unit Cmm, the spindle model unit Mm, and the slave shaft command calculation unit Cms described above may be reduced. Therefore, preferably, the acceleration of each control axis of the robot 30, which is the slave axis servo control device (acceleration in the present application, during the first transition period at the time of asynchronous control, immediately before switching from asynchronous control to synchronous control by the switching unit).
  • the command position of the robot 30 is calculated by the switching command calculator included in the synchronous control device 10 so that the deceleration is also included in the concept (1).
  • the switching time command calculation unit is a functional unit formed in the control unit 11 (see FIG. 1 ), and the processing of the switching time command calculation unit will be described with reference to FIG. 14.
  • FIG. 14 shows a time transition of acceleration on each control axis (X axis, Y axis, Z axis in the present embodiment) of the robot 30.
  • Time T2 shown in FIG. 14 is the time when the synchronous control of the motor 20 and the robot 30 is started, that is, the time when the output points of the motor 20 and the robot 30 reach the position MP2 and the position SP2 in FIG. Is.
  • the switching time command calculation unit is set so that the acceleration of each control axis of the robot 30 continuously changes as shown in FIG. Calculates the command position of each control axis.
  • the robot 30 can suitably and smoothly realize the transition to the synchronous control of each control axis at the timing of switching from the asynchronous control to the synchronous control.
  • the vibration of the output point of the robot 30 can be effectively suppressed. This is effective in avoiding deterioration of the tracking accuracy in the synchronous control.
  • the vibration suppression at the time of switching from the asynchronous control to the synchronous control is referred to.
  • the switching command computing unit similarly causes each control axis of robot 30.
  • the switching time command calculation unit causes the robot to operate.
  • the command position of each control axis may be calculated so that the acceleration of each control axis of 30 continuously changes.
  • the lengths of the first transition period and the second transition period may be appropriately set as long as the instructed synchronous control can be realized, which is suitable for suppressing the vibration of the output point of the robot 30.
  • the calculation of the command position by the switching command calculation unit does not necessarily have to be performed for all the control axes of the robot 30.
  • the command position at switching may be calculated by a command calculation unit at the time of a part of the control axis of the robot 30.
  • Functional blocks of the synchronous control device 10 are realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. It may be realized by software.
  • a spindle command calculation unit that calculates a spindle command position for the spindle servo control mechanism (20) based on time-series target position information for the spindle servo control mechanism (20); The spindle command position, the spindle feedback position in the spindle servo control mechanism (20), and the predicted spindle command position after a predetermined time calculated based on the target position information are input, and the spindle servo control mechanism (20).
  • the spindle command position, the spindle feedback position in the spindle servo control mechanism (20), and the predicted spindle command position after a predetermined time calculated based on the target position information are input, and the spindle servo control mechanism (20).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

Le dispositif de commande de synchronisation (10) selon l'invention comprend : une unité de calcul de commande d'arbre principal (Cmm), qui calcule une position de commande d'arbre principal sur la base d'informations chronologiques de position cible ; une unité de modèle d'arbre principal (Mm), qui utilise une position de commande d'arbre principal prédite après une durée prédéfinie calculée sur la base de la position de commande d'arbre principal, une position de rétroaction d'arbre principal et les informations de position cible en tant qu'entrée pour calculer une position de rétroaction d'arbre principal prédite au moyen d'un modèle à caractéristiques dynamiques provenant d'un mécanisme de servocommande d'arbre principal (20) ; et une unité de calcul de commande d'arbre entraîné (Cms), qui calcule une position de commande d'arbre entraîné sur la base de la position de rétroaction d'arbre principal prédite. Cette configuration permet d'obtenir une commande de synchronisation dans laquelle la précision d'entraînement synchrone d'un arbre entraîné est améliorée.
PCT/JP2019/048289 2018-12-27 2019-12-10 Dispositif de commande de synchronisation, système de commande de synchronisation, procédé de commande de synchronisation et dispositif de simulation Ceased WO2020137522A1 (fr)

Priority Applications (3)

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US17/298,856 US11822313B2 (en) 2018-12-27 2019-12-10 Synchronization control device, synchronization control system, synchronization control method, and simulation device
EP19906291.0A EP3876044A4 (fr) 2018-12-27 2019-12-10 Dispositif de commande de synchronisation, système de commande de synchronisation, procédé de commande de synchronisation et dispositif de simulation
CN201980079285.3A CN113168135B (zh) 2018-12-27 2019-12-10 同步控制装置、同步控制系统和同步控制方法

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JP3551328B2 (ja) 1994-10-28 2004-08-04 株式会社安川電機 同期制御装置
JP2004328829A (ja) * 2003-04-22 2004-11-18 Yaskawa Electric Corp モータの制御装置及び制御方法
JP2006172438A (ja) * 2004-11-17 2006-06-29 Omron Corp 電子カムの制御方法およびサーボモータ制御システム
JP2010022145A (ja) * 2008-07-11 2010-01-28 Yaskawa Electric Corp 同期制御装置
WO2016185590A1 (fr) * 2015-05-20 2016-11-24 三菱電機株式会社 Simulateur de dispositif mécanique multi-arbres, appareil d'aide à la conception pour dispositif de commande de fonctionnement, appareil d'aide à la conception pour dispositif de commande de moteur électrique, et appareil de sélection de capacité de moteur électrique
JP2018120327A (ja) * 2017-01-24 2018-08-02 オムロン株式会社 制御装置、制御プログラムおよび制御システム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3551328B2 (ja) 1994-10-28 2004-08-04 株式会社安川電機 同期制御装置
JP2004328829A (ja) * 2003-04-22 2004-11-18 Yaskawa Electric Corp モータの制御装置及び制御方法
JP2006172438A (ja) * 2004-11-17 2006-06-29 Omron Corp 電子カムの制御方法およびサーボモータ制御システム
JP2010022145A (ja) * 2008-07-11 2010-01-28 Yaskawa Electric Corp 同期制御装置
WO2016185590A1 (fr) * 2015-05-20 2016-11-24 三菱電機株式会社 Simulateur de dispositif mécanique multi-arbres, appareil d'aide à la conception pour dispositif de commande de fonctionnement, appareil d'aide à la conception pour dispositif de commande de moteur électrique, et appareil de sélection de capacité de moteur électrique
JP2018120327A (ja) * 2017-01-24 2018-08-02 オムロン株式会社 制御装置、制御プログラムおよび制御システム

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