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

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

Abstract: The present invention is a control device which includes a filter unit for performing an attenuation process at a predetermined frequency on a control input based on a predetermined target command, generates the control input through model predictive control executed by a model predictive control unit and causes an output of a predetermined control object to follow the predetermined target command. A prediction model defines a correlation between the control input and predetermined extended state variables including a state variable related to a predetermined control object and a predetermined filter state variable related to the filter unit, and a predetermined evaluation function for model predictive controls configured to calculate a state quantity cost that is a stage cost with respect to state variables except the predetermined filter state variable among the predetermined extended state variables, and a control input cost that is a stage cost related to the control input.

Abstract: A control system includes a drive-side control device and a host-side control device. The drive-side control device has a drive-side control structure including a drive-side feedback system and a drive-side control model part and configured so as to be capable of model tracking control in accordance with a control model which the drive-side control model part has. The host-side control device has a host-side control structure including a host-side control model part a host-side correcting signal based on a deviation between an output of the host-side control model part and the operation command signal is fed back to an input side of the host-side control model part, and a corrected command signal generated based on the host-side correcting signal that is fed back and the operation command signal is input to the host-side control model part. The corrected command signal is further input to the drive-side control structure.

Abstract: Provided is a processing device including a simulation system including a model control unit and a predetermined control block structure corresponding to a predetermined device-side configuration, wherein a time response of the predetermined device-side configuration to a predetermined input value is calculated by convolution processing using impulse response information for calculation relating to the predetermined device-side configuration and the predetermined input value, and simulation of the simulation system is performed using the calculated time response. By changing a model control parameter set in the model control unit and performing the simulation, a correlation between a predetermined performance index and the model control parameter is calculated based on a response result of the simulation system, and a device control parameter is determined based on the correlation.

Abstract: Provided is an evaluation device that determines the necessity of a notch filter inserted in a control system that controls an electric motor by closed loop control. The evaluation device includes: a characteristic acquisition parts for changing a parameter associated with a characteristic of the notch filter from a first value, which is a prescribed value, to a second value, and acquiring a change in a frequency response characteristic of the electric motor when the notch filter is applied; and a determination parts for determining the necessity of the notch filter based on the change in the frequency response characteristic that has been acquired.

Abstract: A simulation device includes: a simulation system including a predetermined feedback system having at least a predetermined control block structure corresponding to a predetermined device-side configuration; a holding unit holding impulse response information for calculation that is information on an impulse response relating to the predetermined device-side configuration; a first response calculation unit calculating a time response of the predetermined device-side configuration to a predetermined input value by convolution processing using the impulse response information for calculation and the predetermined input value; and a second response calculation unit calculating a response of the simulation system to a command value input to the simulation system by using the time response of the predetermined device-side configuration calculated by the first response calculation unit. According to this configuration, simulation accuracy of a control system is improved.

Abstract: The processing device includes: a temperature transition acquisition unit that acquires rising transition of the temperature of the winding in a state in which a first voltage is applied in order to raise a temperature of the winding to a first temperature and further acquires falling transition of the temperature of the winding in a state in which a second voltage is applied in order to lower the temperature of the winding to a second temperature that is lower than the first temperature after the temperature of the winding converges to the first temperature; and a decision unit that calculates stator-related parameters on the basis of the falling transition to decide a stator temperature characteristic mode and further calculates winding-related parameters on the basis of the rising transition and a stator temperature characteristic model to decide a winding temperature characteristic model.

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

Abstract: A control device includes an interface for exchanging data with a servo driver. The servo driver is configured to execute a control arithmetic operation in which a manipulation amount for driving the servo motor is determined on the basis of a control parameter determined in accordance with a control target. The control device includes a creation unit that acquires the control parameter of the servo driver and creates an internal model representing a motion characteristic of the control target, and a target value calculation unit that calculates a corrected target value to be supplied to the servo driver on the basis of a target value corresponding to a target track and a feedback value from the control target.

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

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

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

Abstract: A control device includes an interface for exchanging data with a servo driver. The servo driver is configured to execute a control arithmetic operation in which a manipulation amount for driving the servo motor is determined on the basis of a control parameter determined in accordance with a control target. The control device includes a creation unit that acquires the control parameter of the servo driver and creates an internal model representing a motion characteristic of the control target, and a target value calculation unit that calculates a corrected target value to be supplied to the servo driver on the basis of a target value corresponding to a target track and a feedback value from the control target.

Abstract: The present invention realizes a motor control apparatus and the like capable of obtaining an appropriate frequency characteristic. The motor control apparatus of the present invention includes a command value generating portion (10), a torque saturation detecting portion (61) for determining whether a driving value based on a command value exceeds a driving value capable of being output from the apparatus, a current saturation detecting portion (71), a voltage saturation detecting portion (72), and a command value correcting portion (20) for correcting the command value when the driving value is determined as being exceeded.

Abstract: A control device, by which a user causes a servo motor to perform desired operation without being conscious of a maximum torque of the servo motor while easily understanding the transmission characteristic, selects which one of sliding mode control and PID control is adopted to control a servo motor based on at least one of a position deviation and a velocity deviation.

Abstract: The present invention implements a model-tracking motor control apparatus for stabilizing behavior of a controlled object. The control apparatus (1) includes: a motor control part (20), generating a driving torque instruction value used to enable the servo motor (2) to perform driving based on a detection value of an encoder (4) that performs detection on a rotational state of a servo motor (2); and a model control part (10), generating a model torque instruction value, and outputting the model torque instruction value to the motor control part (20), where the model control part (10) has a model torque limiter (104) that limits the model torque instruction value within a first limit range.

Abstract: A user can cause a servo motor to perform desired operation without occurrence of overshoot and hunting while being unconscious of a maximum torque that can be output from the servo motor. A control device that implements model following control includes a feedforward controller that implements sliding mode control.

Abstract: The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part (41) computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part (44) executing time response simulation of the mechanical system (7) according to a second command value and the impulse response.

Abstract: The present invention realizes a motor control apparatus and the like capable of obtaining an appropriate frequency characteristic. The motor control apparatus of the present invention includes a command value generating portion (10), a torque saturation detecting portion (61) for determining whether a driving value based on a command value exceeds a driving value capable of being output from the apparatus, a current saturation detecting portion (71), a voltage saturation detecting portion (72), and a command value correcting portion (20) for correcting the command value when the driving value is determined as being exceeded.