WO2015079499A1 - 機械装置の設計改善作業を支援する方法及び装置 - Google Patents
機械装置の設計改善作業を支援する方法及び装置 Download PDFInfo
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- WO2015079499A1 WO2015079499A1 PCT/JP2013/081800 JP2013081800W WO2015079499A1 WO 2015079499 A1 WO2015079499 A1 WO 2015079499A1 JP 2013081800 W JP2013081800 W JP 2013081800W WO 2015079499 A1 WO2015079499 A1 WO 2015079499A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-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 programme data in numerical form
- G05B19/401—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 programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37344—Torque, thrust, twist, machining force measurement
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37378—Balance of workpiece from vibration sensor and angle sensor
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49177—Runout, eccentricity, unbalance of tool or workpiece
Definitions
- the technology disclosed herein relates to a technology that supports work for improving the design of a mechanical device that is operated by a motor.
- a mechanical device that is operated by a motor in particular, a mechanical device that controls the operation of a movable part by a motor is widely used.
- feedback control for example, P (proportional) control, PI (proportional integral) control, and PID (proportional integral derivative) control are known.
- This specification discloses a method for supporting the work of improving the design of a mechanical device operated by a motor.
- This method includes an operation step of operating a movable part of a mechanical device by a motor.
- the operation step for example, it is preferable that the movable part of the mechanical device is oscillated (reciprocated), the movable part of the mechanical device is moved at a constant speed, or the movable part of the mechanical device is accelerated / decelerated.
- the method further comprises a measurement step of obtaining at least one index indicative of an input to or output from the motor during the operation step.
- this measurement step for example, it is preferable to acquire one or both of an input index indicating the input to the motor with time and an output index indicating the output from the motor with time.
- the input index or the output index is not particularly limited, but is a current index indicating the motor current with time, a torque index indicating the motor torque with time, a position index indicating the rotational position of the motor with time, and It is preferable to obtain a speed index indicating the speed of the motor over time.
- the method further includes a determination step of determining the mechanical characteristics of the mechanical device using at least one index acquired in the measurement step.
- this determination step although not particularly limited, for example, the frequency characteristic of the output with respect to the motor input, the position-torque characteristic indicating the relation between the rotational position of the motor and the torque, and the relation between the speed and the torque of the motor.
- the frequency characteristic of the output with respect to the motor input the frequency characteristic of the output with respect to the motor input
- the position-torque characteristic indicating the relation between the rotational position of the motor and the torque
- the relation between the speed and the torque of the motor Preferably, at least one of the speed-torque characteristics shown is determined.
- This method further identifies at least one improvement item that needs improvement in the design of the mechanical device by using the mechanical characteristics determined in the determination step.
- this determination step although not particularly limited, for example, it is possible to specify whether or not the rigidity of the mechanical device is an improvement required item using the frequency characteristics of the motor. Alternatively, using the position-torque characteristics of the motor, it is possible to specify whether or not the tooth contact of the gear connected to the motor or the cogging torque of the motor is a necessary improvement item. Alternatively, it is possible to specify whether or not the friction accompanying the movement of the movable part is an improvement item using the speed-torque characteristics of the motor.
- the designer can specify items that need improvement in the design of the mechanical device without relying on experience and intuition. And the designer can improve the performance of a machine apparatus reliably by improving the said item in the design of a machine apparatus.
- the apparatus includes at least an operation step for operating a movable part of a mechanical device by a motor, a measurement step for obtaining at least one index indicating an input to the motor during the operation step or an output from the motor, and a measurement step.
- a determination step for determining the mechanical characteristics of the mechanical device, and at least one improvement item that needs improvement in the mechanical device design using the mechanical characteristics determined in the determination step. Specific steps are performed.
- FIG. 6A is a graph showing an example of the position index, where the horizontal axis indicates time, and the vertical axis indicates the rotational position of the motor.
- FIG. 6B is a graph showing a current index, where the horizontal axis indicates time and the vertical axis indicates motor current.
- FIG. 8A is a graph showing an example of the speed index, where the horizontal axis indicates time and the vertical axis indicates the motor speed.
- FIG. 8B is a graph showing an example of the torque index, where the horizontal axis shows time and the vertical axis shows motor torque.
- the figure explaining the 3rd sub step which makes a movable part accelerate and decelerate.
- FIG. 10A is a graph illustrating an example of the second speed index, where the horizontal axis indicates time and the vertical axis indicates the rotation speed of the motor.
- FIG. 10B is a graph showing an example of the second torque index, in which the horizontal axis indicates time and the vertical axis indicates motor torque.
- the graph which shows an example of the frequency characteristic of a mechanical apparatus.
- the horizontal axis indicates the frequency, and the vertical axis indicates the gain.
- the horizontal axis indicates the rotation speed of the motor, and the vertical axis indicates the motor torque caused by friction.
- the horizontal axis indicates the rotational position of the motor, and the vertical axis indicates the torque of the motor.
- the graph which shows an example of the correction torque parameter
- the horizontal axis represents time, and the vertical axis represents motor torque.
- the horizontal axis indicates the component with respect to the rotation of the motor, and the vertical axis indicates the torque of the motor.
- the block diagram which shows the calculation model used for simulation.
- At least an oscillating motion (reciprocating motion) of the movable portion is performed in the operation step.
- the measurement step it is preferable to obtain at least an input index indicating the input to the motor with time and an output index indicating the output from the motor with time.
- the determining step it is preferable to determine the frequency characteristic of the output with respect to the motor input using the input index and the output index.
- the determining step it is preferable to calculate the frequency component of the input index and the frequency component of the output index, respectively, and determine the frequency characteristics of the mechanical device using the frequency component of the input index and the frequency component of the output index.
- the frequency characteristic can be determined by dividing the frequency component of the output index by the frequency component of the input index.
- the input index is not particularly limited, but is preferably a current index indicating the motor current over time.
- the output index is not particularly limited, but is preferably a position index that indicates the rotational position of the motor with time or a speed index that indicates the speed of the motor with time.
- the motor current and the motor torque are correlated. Therefore, the current index is not limited to a measured value obtained by measuring the motor current with time, and may be a measured value obtained by measuring the motor torque with time.
- the rigidity of the mechanical device is an improvement item based on at least one of the resonance frequency having the maximum value and the anti-resonance frequency having the minimum value in the frequency characteristics of the mechanical device.
- the resonance frequency having the maximum value and the anti-resonance frequency having the minimum value appear in the frequency characteristic of the mechanical device. Therefore, by paying attention to the resonance frequency that takes the maximum value and the anti-resonance frequency that takes the minimum value, it is possible to obtain information that can identify the presence of a portion with insufficient rigidity and the position thereof.
- the mass ratio regarding the movable part can be calculated.
- this mass ratio shows the mass ratio of the mass connected to one side of the part lacking rigidity, and the mass connected to the other side. Therefore, by using the mass ratio, it is possible to identify a portion of the movable portion that lacks rigidity.
- At least one of the resonance frequency and the anti-resonance frequency may change significantly depending on the position of the movable part.
- At least the movable portion is moved at a constant speed in the operation step.
- the measurement step it is preferable to obtain at least a position index indicating the rotational position of the motor with time and a torque index indicating the torque of the motor with time.
- the determining step it is preferable to determine a position-torque characteristic indicating a relationship between the position of the motor and the torque using the position index and the torque index.
- the specifying step it is preferable to specify whether or not the tooth contact of the gear connected to the motor or the cogging torque of the motor is the improvement required item using the position-torque characteristic.
- the frequency component of the position-torque characteristic is calculated, and based on the frequency component, it is determined whether the contact of the gear connected to the motor or the cogging torque of the motor is an improvement item. It is preferable to specify. If the tooth contact of the gear connected to the motor or the cogging torque of the motor is poor, the position-torque characteristic of the motor changes significantly at a specific frequency. Therefore, by focusing attention on the frequency component of the position-torque characteristic of the motor, it is possible to specify whether the tooth contact and the cogging torque are the items requiring improvement.
- the operation step it is preferable to perform at least a constant velocity motion of the movable part under a plurality of speed conditions.
- the measurement step it is preferable to acquire a speed index indicating the rotational speed of the motor and a torque index indicating the torque of the motor at least in each speed condition.
- the determining step it is preferable to determine a speed-torque characteristic indicating a relationship between the motor speed and the torque by using the speed index and the torque index acquired under each speed condition.
- the specifying step it is preferable to specify whether or not the friction accompanying the movement of the movable part is an improvement item using the speed-torque characteristics of the motor.
- the operation step it is preferable to further perform acceleration / deceleration movement of the movable part in the operation step.
- the measurement step it is preferable to further obtain a second torque index that indicates the torque of the motor during acceleration / deceleration movement with time and a second speed index that indicates the rotation speed of the motor with time.
- the determining step it is preferable to further determine a corrected torque index that excludes the influence of friction from the second torque index, using the second torque index, the second speed index, and the speed-torque characteristics described above. Thereby, in the specifying step, it is possible to further specify whether or not the inertia of the movable part is an improvement item using the corrected torque index.
- the method creates the mechanical characteristics of the machine device after the design change, assuming that at least one of the improvement items identified in the specific step has been redesigned.
- the method (or apparatus) further includes (performs) an effect calculation step of calculating a performance difference of the mechanical device before and after the design change using the operation performance after the design change calculated in the performance calculation step. It is preferable. According to such a configuration, it is possible to more easily grasp the effect of the design change.
- FIG. 1 shows a mechanical device 10 to be improved and a support device 40 that supports an operation for improving the design of the mechanical device 10.
- FIG. 1 shows a mechanical device 10 to be improved and a support device 40 that supports an operation for improving the design of the mechanical device 10.
- the mechanical device 10 having a simple configuration will be described, but the specific configuration of the mechanical device 10 is not particularly limited.
- the present technology can be widely applied to a mechanical device having a movable part that is operated by a motor.
- the mechanical device 10 includes a motor 12 and a movable body 18 that is operated by the motor 12.
- the movable body 18 is supported by the guide rail 16.
- the motor 12 is connected to the movable body 18 via the speed reducer 14 and the feed screw 20.
- the feed screw 20 converts the rotational motion of the motor 12 into the linear motion of the movable body 18.
- the feed screw 20 extends along the moving direction of the movable body 18.
- the moving direction of the movable body 18 may be referred to as the X direction
- the position of the movable body 18 may be expressed as X1, X2,.
- the machine device 10 includes a servo amplifier 24.
- the servo amplifier 24 is a control device that performs PID control of the motor 12.
- the motor 12 of this embodiment is a servo motor and has an encoder 22 that detects a rotational position P of the motor 12.
- the encoder 22 is connected to the servo amplifier 24, and the encoder 22 controls the current I flowing through the motor 12 based on the detected rotational position P of the motor 12.
- the servo amplifier 24 in this embodiment has an auto-tuning function that automatically optimizes control parameters for PID control.
- the servo amplifier 24 operates the movable part by the motor 12 and measures an index (current, torque, rotational position, rotational speed) indicating an input to the motor 12 or an output from the motor 12 during that time. Then, the servo amplifier 24 determines mechanical characteristics of the mechanical device 10 based on the measured index, and determines control parameters according to the determined mechanical characteristics.
- the support device 40 of this embodiment acquires the mechanical characteristics of the mechanical device 10 by using the auto-tuning function of the servo amplifier 24.
- the support device 40 includes a computer device 50, a display 60, and a user interface 70.
- the computer device 50 is communicably connected to the servo amplifier 24, and can acquire the mechanical characteristics and optimized control parameters of the mechanical device 10 determined by the auto tuning function from the servo amplifier 24.
- the computer device 50 functionally includes an item specifying unit 52, a characteristic creating unit 54, a simulation unit 56, and an effect calculating unit 58.
- the item specifying unit 52 uses the mechanical characteristics of the mechanical device 10 acquired from the servo amplifier 24 to execute processing for specifying an improvement required item.
- the item requiring improvement here refers to an item that requires improvement in the design of the mechanical device 10.
- the characteristic creation unit 54 executes a process of creating the mechanical characteristics of the machine apparatus 10 after the design change, assuming that one or more improvement items specified by the item specification unit 52 have been changed in design.
- the improvement items to be assumed to be designed and the improvement range are not only selected by the characteristic creation unit 54, but also can be instructed by the designer using the user interface 70.
- the simulation unit 56 can calculate the operation performance of the mechanical device 10 by executing a simulation using the mechanical characteristics of the mechanical device 10.
- the operation performance here is not particularly limited, but means one or more of the maximum speed, maximum acceleration, maximum deceleration, positioning accuracy, and positioning time of the movable portion 18.
- the simulation unit 56 can calculate the operation performance of the mechanical device 10 after the design change using the mechanical property after the design change created by the characteristic creation unit 54.
- the simulation unit 56 can also calculate the operation performance of the mechanical device 10 before the design change using the actual mechanical characteristics determined by the servo amplifier 24.
- the effect calculation unit 58 can calculate the performance difference (effect) using the operation performance before and after the design change calculated by the simulation unit 56.
- Various types of information created by the processing by the item identification unit 52, the characteristic creation unit 54, the simulation unit 56, and the effect calculation unit 58 are displayed on the display 60 and presented to the designer.
- FIGS. 2, 3, and 4 show the flow of a support method in which the designer uses the support device 40 to support work for improving the design of the mechanical device 10. The steps of the support method will be described below along the flow shown in FIGS.
- step S12 in FIG. 2 the servo amplifier 24 starts executing the auto-tuning function. Accordingly, in step S14, the servo amplifier 24 measures a plurality of indices indicating the input or output of the motor 12 while operating the movable part by the motor 12 (S14).
- This step S14 includes the following three sub-steps.
- the servo amplifier 24 controls the motor 12 so that the movable body 18 oscillates (reciprocates).
- the servo amplifier 24 measures the rotational position and current of the motor 12 during that time.
- a position index indicating the rotational position of the motor 12 with time and a current index indicating the current of the motor 12 with time are acquired.
- FIG. 6 illustrates a position index and a current index, respectively.
- a position index and a current index are acquired for each center of the vibration motion.
- the current index is an example of an input index and can be changed to another input index.
- the position index is an example of an output index, and can be changed to another output index.
- the servo amplifier 24 controls the motor 12 so that the movable body 18 moves at a constant speed in at least a part of the period.
- the servo amplifier 24 measures the rotational speed and torque of the motor 12 over time. Thereby, a speed index indicating the rotation speed of the motor 12 with time and a torque index indicating the torque of the motor 12 with time are acquired.
- FIG. 8 illustrates the speed index and the torque index acquired in the second substep, respectively.
- the servo amplifier 24 acquires the speed index of the motor 12 by acquiring the position index of the motor 12 from the output signal of the encoder 22 and calculating the time change rate. A period C in FIG.
- a broken line L ⁇ b> 2 indicates an average value FT of torque in the period C. Since the movable body 18 and the motor 12 are moving at a constant speed, the average value FT of the torque in the period C corresponds to the friction generated by the movement of the movable part such as the movable body 18 and the feed screw 20. That is, the greater the friction, the greater the torque average value FT.
- the second sub-step is repeatedly executed while changing the speed condition for moving the movable body 18 at a constant speed. Thereby, a speed index and a torque index are acquired for each rotation speed of the motor 12, and an average value FT of torque is calculated.
- the servo amplifier 24 controls the motor 12 so that the movable body 18 starts from the start position X4 in a short time and stops at the end position X5. That is, in the third substep, the servo amplifier 24 controls the motor 12 so that the movable body 18 performs a relatively rapid acceleration and deceleration motion.
- the servo amplifier 24 measures the rotational speed and torque of the motor 12 over time. As a result, the servo amplifier 24 acquires a second speed index indicating the rotational speed of the motor 12 over time and a second torque index indicating the torque of the motor 12 over time.
- FIG. 10 illustrates the second speed index and the second torque index acquired in the third substep, respectively.
- the torque indicated by the second torque index changes according to the inertia (mass and moment of inertia) of the movable part such as the movable body 18 and the feed screw 20. That is, the greater the inertia of the movable parts, the greater the torque indicated by the second torque index.
- step S16 the servo amplifier 24 determines the mechanical characteristics of the mechanical device 10 using the various indexes acquired in step S14.
- the mechanical characteristics determined by the servo amplifier 24 are taught to the computer device 50.
- the servo amplifier 24 determines the frequency characteristic of the output with respect to the input of the motor 12 as one mechanical characteristic.
- FIG. 11 shows an example of frequency characteristics.
- the frequency characteristic is a straight line as shown by a broken line L1 in the drawing.
- peaks such as a maximum value LMX and a minimum value LMN appear.
- the frequency with the maximum value LMX indicates the resonance frequency
- the frequency with the minimum value LMN indicates the anti-resonance frequency.
- the frequency characteristic is determined using the current index and the position index acquired in the first substep. Specifically, the position index and the current index are each Fourier transformed to calculate the frequency component P ( ⁇ ) of the position index and the frequency component I ( ⁇ ) of the current index. Then, by dividing the frequency component P ( ⁇ ) of the position index by the frequency component I ( ⁇ ) of the current index, a frequency characteristic as shown in FIG. 11 can be obtained.
- the servo amplifier 24 determines a speed-torque characteristic, a position-torque characteristic, and a corrected torque index as other mechanical characteristics.
- the speed-torque characteristic is a characteristic indicating a relationship between the rotational speed of the motor 12 and the torque.
- FIG. 12 shows an example of speed-torque characteristics.
- the speed-torque characteristics are determined by plotting the torque average value FT for each rotational speed of the motor 12 acquired in the second sub-step in the speed-torque coordinate system.
- the speed-torque characteristic indicates the magnitude of friction accompanying the movement of the movable part of the mechanical device 10.
- the position-torque characteristic is a characteristic indicating the relationship between the rotational position of the motor 12 and the torque.
- the position-torque characteristic is determined by calculating a relational expression between the rotational position and the torque using the position index and the torque index acquired in the second substep.
- the position-torque characteristic indicates torque pulsation with respect to the rotational position of the motor 12.
- the corrected torque index is obtained by eliminating the influence of friction from the second torque index acquired in the third substep.
- FIG. 14 shows an example of the corrected torque index.
- the corrected torque index is determined using the second speed index, the second torque index, and the speed-torque characteristics shown in FIG. Specifically, first, the torque of the motor 12 due to friction is determined at each time using the second speed index and the speed-torque characteristics. Then, the second torque index is determined by subtracting the torque resulting from the friction from the second torque index.
- the second torque index indicates the magnitude of inertia of the movable part such as the movable body 18 and the feed screw 20 of the mechanical device 10.
- step S ⁇ b> 18 the servo amplifier 24 determines the optimal control parameter for the mechanical device 10 using the various mechanical characteristics determined in step S ⁇ b> 16.
- the control parameters determined by the servo amplifier 24 are taught to the computer device 50.
- step S20 the item specifying unit 52 of the computer device 50 executes processing for specifying an improvement required item.
- various mechanical characteristics taught from the servo amplifier 24 are used.
- the item specifying unit 52 uses the frequency characteristic of the mechanical device 10 (see FIG. 11) to specify whether the rigidity of the mechanical device 10 is an improvement required item.
- the item specifying unit 52 performs peak detection from the low frequency side in at least one frequency characteristic, and detects the resonance frequency ⁇ 1 and the anti-resonance frequency ⁇ 2. Then, when the resonance frequency ⁇ 1 or the anti-resonance frequency ⁇ 2 is detected within a predetermined frequency range, the item specifying unit 52 specifies that the rigidity of the mechanical device 10 is an improvement required item.
- the item specifying unit 52 When the item specifying unit 52 detects the resonance frequency ⁇ 1 and the anti-resonance frequency ⁇ 2, the item specifying unit 52 further executes processing for specifying an element (component) having insufficient rigidity.
- an element 34 having insufficient rigidity is provided on the movable portion of the mechanical device 10 (including the rotating shaft of the motor 12, the plurality of gears of the speed reducer 14, the movable body 18, and the feed screw 20).
- the resonance frequency ⁇ 1 and the anti-resonance frequency ⁇ 2 are the elastic coefficient k of the element 34, the mass M1 of the first portion 32 connected to one side (motor 12 side) of the element 34, and the element 34.
- the item specifying unit 52 uses the resonance frequency ⁇ 1 and the antiresonance frequency ⁇ 2 to calculate the mass ratio M2 / M1 of the movable part with the element 34 having insufficient rigidity as a boundary.
- specification part 52 specifies the element in which rigidity is insufficient with reference to the design information (for example, CAD data) of the mechanical apparatus 10 memorize
- the item specifying unit 52 specifies the above-described resonance frequency ⁇ 1 or anti-resonance frequency ⁇ 2 for a plurality of frequency characteristics determined for each position (X1, X2, X3,%) Of the movable body 18. Execute. When the resonance frequency ⁇ 1 or the anti-resonance frequency ⁇ 2 changes according to the position (X1, X2, X3,%) Of the movable body 18, the item specifying unit 52 moves along the moving direction X of the movable body 18. It is determined that the rigidity of the extending member, that is, the feed screw 20 is insufficient.
- the item specifying unit 52 uses the speed-torque characteristics (see FIG. 12) to specify whether or not the friction generated in the mechanical device 10 is an improvement required item. For example, the item specifying unit 52 specifies the planned maximum torque at the maximum rotational speed (or other predetermined speed) of the motor 12 scheduled by the mechanical device 10 from the speed-torque characteristics. Then, the item specifying unit 52 determines that the friction generated in the mechanical device 10 is an improvement required item when the specified maximum planned torque exceeds a predetermined threshold (for example, 30% of the rated torque of the motor 12). Identifies it.
- a predetermined threshold for example, 30% of the rated torque of the motor 12
- the item specifying unit 52 indicates that the nonlinearity is significant when the torque value in a predetermined low speed region exceeds a predetermined threshold (for example, 10% of the rated torque of the motor 12). Judging, the friction which arises with the mechanical device 10 is specified as an improvement required item.
- a predetermined threshold for example, 10% of the rated torque of the motor 12
- the item specifying unit 52 uses the position-torque characteristics (see FIG. 13) to improve the tooth contact of the speed reducer 14 (or other gear) connected to the motor 12 or the cogging torque of the motor 12. Specify whether it is an item. Specifically, first, the item specifying unit 52 performs a Fourier transform on the position-torque characteristics, and calculates the relationship of the components of the position-torque characteristics with respect to the rotation of the motor 12.
- FIG. 17 shows an example of the relationship of the components of the position-torque characteristics with respect to the rotation of the motor 12. In the example shown in FIG. 17, since the first, second, third, and sixth order components are large, the component that vibrates once, twice, three times, and six times during one rotation of the motor 12 is large.
- the item specifying unit 52 performs peak detection from the calculated relationship, and when a vibration component exceeding a predetermined threshold exists, the tooth contact of the speed reducer 14 (or other gear) or the cogging torque of the motor 12 is an improvement required item. To be identified. Note that the same processing may be performed on the position-torque characteristics determined at other speeds of the motor 12 to check whether the same vibration component is detected in the same manner. Thereby, highly accurate processing can be performed.
- the item specifying unit 52 uses the corrected torque index (see FIG. 14) to specify whether the inertia of the movable unit such as the movable body 18 and the feed screw 20 is an improvement item.
- the torque indicated by the corrected torque index increases as the inertia of the movable part such as the movable body 18 and the feed screw 20 increases. Therefore, the item specifying unit 52 specifies the maximum torque from the corrected torque index, and when the maximum torque exceeds a predetermined threshold (for example, 200% of the rated torque), the inertia of the movable unit is an improvement item. Is specified.
- step S ⁇ b> 22 the improvement required items specified by the item specifying unit 52 are displayed on the display 60. Thereby, the designer can know where to improve the design of the mechanical device 10.
- step S24 if the designer desires (YES), the computer device 50 proceeds to a process of calculating the effect when the improvement required items are improved (to A in FIG. 3).
- step S26 if the designer desires (YES), the computer device 50 proceeds to a process of calculating the improvement content for obtaining the target performance (to B in FIG. 4).
- the characteristic creation unit 54 selects one item as an object to be improved from among the one or more improvement items that have been identified.
- the characteristic creation unit 54 determines the improved mechanical characteristics. For example, when the object to be improved is the rigidity of the mechanical device 10, the characteristic creation unit 54 deletes the peaks at the resonance frequency ⁇ 1 and the antiresonance frequency ⁇ 2 from the frequency characteristic determined in step S16 (FIG. 15). Create Alternatively, when the object to be improved is the friction of the mechanical device 10, the characteristic creation unit 54 creates a speed-torque index with a reduced torque value from the speed-torque index determined in step S16.
- step S ⁇ b> 36 the simulation unit 56 executes a simulation using the created improved mechanical characteristics, and calculates the improved operation performance of the machine apparatus 10.
- This simulation can be performed using commercially available simulation software such as Matlab (registered trademark).
- FIG. 18 shows a block diagram of a calculation model used in the simulation of this embodiment, which is an example.
- time-series data indicating the position of the motor 12 can be calculated from time-series data describing the torque of the motor 12.
- “gear contact, cogging torque” and “friction characteristics” in the block diagram are position-torque characteristics (see FIG. 13) with respect to the rotational position of the motor 12 and the rotational speed of the motor 12 obtained by differentiating the rotational position.
- the transfer function p (s) representing the inertia and vibration characteristics of the mechanical device 10 can be described by the equation shown in FIG.
- J is a moment of inertia
- K i is a gain of the i th resonance
- ⁇ i is a damping coefficient
- ⁇ i is a resonance frequency
- s is a Laplace operator.
- the transfer function p (s) can be determined by determining each parameter so that the frequency characteristic (see FIG. 11) of the mechanical device 10 is reproduced.
- a known optimization method such as a partial iteration method or a genetic algorithm (GA) may be used.
- step S40 in order to obtain a reference for comparison, the simulation unit 56 executes a simulation using the mechanical characteristics of the machine device 10 before improvement, and calculates the operation performance of the machine device 10 before improvement. Note that this operation performance may be acquired by actually operating the mechanical device 10.
- step S42 the effect calculation unit 58 uses the post-improvement operation performance calculated in S38 and the pre-improvement operation performance calculated in S40, that is, the performance difference before and after the improvement of the mechanical device 10, that is, the improvement Calculate the effect.
- step S ⁇ b> 42 the calculated improvement effect is displayed on the display 60.
- the designer can determine which improvement required items should be changed in the design of the mechanical device 10 by comparing the improvement effects displayed for each improvement required item.
- step S46 if the designer desires (YES), the computer device 50 proceeds to a process of calculating the improvement content for obtaining the target performance (to B in FIG. 4).
- step S52 the characteristic creation unit 54 receives an improvement item and improvement range instruction from the designer. That is, in this step S52, the designer instructs an item to be improved and the degree of improvement from among one or a plurality of improvement items displayed on the display 60.
- step S54 the characteristic creation unit 54 determines the improved mechanical characteristic based on the improvement item and the improvement range instructed by the designer.
- step S ⁇ b> 56 the simulation unit 56 performs a simulation using the created improved mechanical characteristics, and calculates the improved performance of the machine apparatus 10.
- step S58 the calculated operation performance is displayed on the display 60.
- step S60 when the calculated operation performance does not satisfy the target operation performance (NO), the computer device 50 returns to the process of step S52.
- the processing in step S60 may be automatically performed by the computer device 50 based on the target operation performance stored in advance, or may be performed by the designer based on the display 60. With the above processing, the designer can easily know which improvement items need to be changed to what extent and how much the design change is necessary in order to satisfy the target operation performance of the mechanical device 10.
- the designer can easily know the items to be improved in the design of the mechanical device 10 and the effects of the improvements. Thus, it is possible to make an effective design change of the mechanical device 10 in a short time.
- each step executed by the support device 40 according to the present embodiment for example, a step of specifying an improvement item from the determined mechanical characteristics (step S16 in FIG. 2) may be performed by the designer.
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Abstract
Description
12:モータ
14:減速機
16:ガイドレール
18:可動体
20:送りねじ
22:エンコーダ
24:サーボアンプ
40:支援装置
50:コンピュータ装置
52:項目特定部
54:特性作成部
56:シミュレーション部
58:効果算出部
60:ディスプレイ
70:ユーザインターフェース
Claims (14)
- モータによって動作する機械装置の設計を改善する作業を支援する方法であって、
前記モータによって前記機械装置の可動部を動作させる動作ステップと、
前記動作ステップ中の前記モータへの入力又は前記モータからの出力を示す少なくとも一つの指標を取得する測定ステップと、
前記測定ステップで取得した前記少なくとも一つの指標を用いて、前記機械装置の機械特性を決定する決定ステップと、
前記決定ステップで決定した機械特性を用いて、前記機械装置の設計において改善が必要とされる要改善項目を少なくとも一つ特定する特定ステップと、
を備える方法。 - 前記動作ステップでは、少なくとも、前記可動部の振動運動を行い、
前記測定ステップでは、少なくとも、前記モータへの入力を経時的に示す入力指標と、前記モータからの出力を経時的に示す出力指標とを取得し、
前記決定ステップでは、前記入力指標と前記出力指標とを用いて、前記モータの入力に対する出力の周波数特性を決定し、
前記特定ステップでは、前記周波数特性を用いて、前記機械装置の剛性が前記要改善項目であるのか否かを特定する、
請求項1に記載の方法。 - 前記決定ステップでは、前記入力指標の周波数成分と、前記出力指標の周波数成分とをそれぞれ算出し、当該入力指標の周波数成分及び出力指標の周波数成分とを用いて、前記周波数特性を決定する、請求項2に記載の方法。
- 前記入力指標は、前記モータの電流を経時的に示す電流指標であり、
前記出力指標は、前記モータの回転位置を経時的に示す位置指標である、
請求項2又は3に記載の方法。 - 前記特定ステップでは、前記周波数特性において極大値をとる共振周波数と、極小値をとる***振周波数との少なくとも一方に基づいて、前記機械装置の剛性が前記要改善項目であるのか否かを特定する、請求項2から4のいずれか一項に記載の方法。
- 前記特定ステップでは、前記共振周波数と前記***振周波数とを用いて前記可動部に関する質量比を算出し、当該質量比を用いて前記可動部のなかで剛性が不足する部分を特定する、請求項5に記載の方法。
- 前記特定ステップでは、前記共振周波数と前記***振周波数との少なくとも一方が、前記可動部の位置に応じて変化する場合に、前記可動部の移動方向に沿って伸びる部材の剛性が不足することを特定する、請求項5又は6に記載の方法。
- 前記動作ステップでは、少なくとも、前記可動部の等速運動を行い、
前記測定ステップでは、少なくとも、前記モータの回転位置を経時的に示す位置指標と、前記モータのトルクを経時的に示すトルク指標とを取得し、
前記決定ステップでは、前記位置指標と前記トルク指標とを用いて、前記モータの位置とトルクとの間の関係を示す位置-トルク特性を決定し、
前記特定ステップでは、前記位置-トルク特性を用いて、前記モータに接続されたギアの歯当たり又は前記モータのコギングトルクが、前記要改善項目であるのか否かを特定する、
請求項1から7のいずれか一項に記載の方法。 - 前記特定ステップでは、前記位置-トルク特性の周波数成分を算出し、当該周波数成分に基づいて、前記モータに接続されたギアの歯当たり又は前記モータのコギングトルクが前記要改善項目であるのか否かを特定する、請求項8に記載の方法。
- 前記動作ステップでは、少なくとも、前記可動部の等速運動を複数の速度条件で行い、
前記測定ステップでは、少なくとも、各々の速度条件において、前記モータの回転速度を示す速度指標と、前記モータのトルクを示すトルク指標とを取得し、
前記決定ステップでは、各々の速度条件で取得した前記速度指標と前記トルク指標とを用いて、前記モータの速度とトルクとの間の関係を示す速度-トルク特性を決定し、
前記特定ステップでは、前記速度-トルク特性を用いて、前記可動部の運動に伴う摩擦が要改善項目であるのか否かを特定する、
請求項1から9のいずれか一項に記載の方法。 - 前記動作ステップでは、前記可動部の加減速運動をさらに行い、
前記測定ステップでは、前記加減速運動中の前記モータのトルクを経時的に示す第2トルク指標と、前記モータの回転速度を経時的に示す第2速度指標とをさらに取得し、
前記決定ステップでは、前記第2トルク指標と前記第2速度指標と前記速度-トルク特性とを用いて、前記第2トルク指標から前記摩擦の影響を排除した修正トルク指標をさらに決定し、
前記特定ステップでは、前記修正トルク指標を用いて、前記可動部の慣性が前記要改善項目であるのか否かをさらに特定する、請求項10に記載の方法。 - 前記特定ステップで特定された前記要改善項目の少なくとも一つを設計変更したと仮定して、その設計変更後の前記機械装置の機械特性を作成し、当該機械特性を用いたシミュレーションを実行することによって、前記機械装置の設計変更後の動作性能を算出する性能算出ステップをさらに備える、請求項11に記載の方法。
- 前記性能算出ステップで算出された設計変更後の動作性能を用いて、設計変更の前後における機械装置の性能差を算出する効果算出ステップをさらに備える、請求項12に記載の方法。
- モータによって動作する機械装置の設計を改善する作業を支援する装置であって、少なくとも、
前記モータによって前記機械装置の可動部を動作させる動作ステップと、
前記動作ステップ中の前記モータへの入力又は前記モータからの出力を示す少なくとも一つの指標を取得する測定ステップと、
前記測定ステップで取得した前記少なくとも一つの指標を用いて、前記機械装置の機械特性を決定する決定ステップと、
前記決定処理で決定した機械特性を用いて、前記機械装置の設計において改善が必要とされる要改善項目を少なくとも一つ特定する特定ステップと、
を実行する装置。
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