Satoshi Ikai has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
Abstract: An object is to provide a servo controller which constantly optimizes parameters according to the state of a machine. A servo controller for controlling an electric motor which drives the axis of an industrial machine includes: a state value derivation unit which derives, from an operation program and/or operation plan information of the industrial machine, the chronological or event-sequential data of the state value of the electric motor or a driven member that is operated with the electric motor; and a parameter change unit which changes at least one parameter of a velocity gain, a position gain, a feedforward gain, a filter frequency and an acceleration/deceleration time constant after interpolation based on the chronological or event-sequential data derived in the state value derivation unit either chronologically or event-sequentially.
Abstract: A machine learning device that performs reinforcement learning for a servo control device and optimizes a coefficient of a filter for attenuating a specific frequency component provided in the servo control device includes a state information acquisition unit which acquires state information that includes the result of calculation of at least one of an input/output gain of the servo control device and a phase delay of input and output, the coefficient of the filter and conditions, and an action information output unit which outputs, to the filter, action information including adjustment information of the coefficient. A reward output unit determines evaluation values under the conditions based on the result of the calculation to output, as a reward, the value of a sum of the evaluation values. A value function updating unit updates an action value function based on the value of the reward, the state information and the action information.
Abstract: Vibration of a machine end and an error of a moving trajectory are suppressed. A machine learning device performs machine learning of optimizing first coefficients of a filter provided in a motor controller that controls a motor and second coefficients of a velocity feedforward unit of a servo control unit provided in the motor controller on the basis of an evaluation function which is a function of measurement information after acceleration and deceleration by an external measuring instrument provided outside the motor controller, a position command input to the motor controller, and a position error which is a difference between the position command value and feedback position detection value from a detector of the servo control unit.
Abstract: A control device includes: an output unit configured to select a motor and output a drive command to a motor drive unit that should be connected to the selected motor so that the selected motor executes a predetermined feed operation; an acquisition unit configured to acquire feedback information from each of the multiple motor drive units; and a wire connection determination unit configured to determine, based on the feedback information, whether the selected motor is connected to the motor drive unit that should be connected to the selected motor, by a power line and a feedback line.
Abstract: An output device with which an operator can understand a progress state of machine learning from evaluation function values is provided. The output device includes: an information acquisition unit that acquires a plurality of evaluation function values which use servo data or are calculated using the servo data from a machine learning device that performs machine learning with respect to a servo control device that controls a servo motor that drives a shaft of a machine tool, a robot, or an industrial machine; and an output unit that outputs the plurality of acquired evaluation function values. The output unit may include a display unit that displays the plurality of evaluation function values on a display screen.
Abstract: Setting of parameters that determine filter characteristics is facilitated. Machine learning of optimizing the coefficients of a filter provided in a motor control device that controls rotation of a motor for a machine tool, a robot, or an industrial machine is performed on the basis of measurement information of an external measuring instrument provided outside the motor control device and a control command input to the motor control device.
Abstract: A machine learning device performs machine learning with respect to a servo control device including at least two feedforward calculation units among a position feedforward calculation unit configured to calculate a position feedforward term on the basis of a position command, a velocity feedforward calculation unit configured to calculate a velocity feedforward term on the basis of a position command, and a current feedforward calculation unit configured to calculate a current feedforward term on the basis of a position command. Machine learning related to the coefficients of a transfer function of one feedforward calculation unit among the at least two feedforward calculation units is performed earlier than machine learning related to the coefficients of a transfer function of the other feedforward calculation unit.
Abstract: A servo motor controller is provided which enables an offset to be set more easily and accurately, in comparison to the conventional technique. A servo motor controller for controlling a servo motor of an industrial machine includes: a position detection unit that detects a position of the servo motor; a magnetic-pole detection unit that detects a magnetic-pole phase of the servo motor; and a phase calculation unit that determines a calculation-based phase based on position data of the servo motor and magnetic-pole gap information of the servo motor. The servo motor controller is configured to acquire an offset relationship between the magnetic-pole phase detected by the magnetic-pole detection unit and the calculation-based phase determined by the phase calculation unit, after a reference position is passed through.
Abstract: A machine learning device that performs reinforcement learning with respect to a servo control apparatus that controls target device having a motor, including: outputting action information including adjustment information of coefficients of a transfer function of a controller gain to a controller included in the servo control apparatus; acquiring, from the servo control apparatus, state information including a deviation between an actual operation of the target device and a command input to the controller, a phase of the motor, and the coefficients of the transfer function of the controller gain when the controller operates the target device based on the action information; outputting a value of a reward in the reinforcement learning based on the deviation included in the state information; and updating an action-value function based on the value of the reward, the state information, and the action information.
Abstract: An apparatus configured to facilitate identifying a factor for a defect if the defect occurs in a finished surface of the workpiece. An apparatus includes a movement path generation section configured to generate the movement path of the industrial machine when performing a work on a workpiece; a running information acquisition section configured to acquire running information of the industrial machine when performing a work on the workpiece; and an image data generation section configured to generate the image data in which a first point on the movement path corresponding to a change point of first running information, and a second point on the movement path corresponding to a change point of second running information different from the first running information are highlighted on the movement path in display forms visually different from each other.
Abstract: A control apparatus of a machine tool includes: a slide position control unit configured to control a slide according to operation patterns; a pressure command generation unit configured to generate a pressure command for a die cushion according to the operation patterns; a pressure detection unit configured to detect an actual pressure of the die cushion; a die cushion speed control unit configured to control the die cushion, based on an error between the pressure command and the actual pressure; and a command reach determination unit configured to determine whether or not the error is greater than a pressure threshold, wherein the slide position control unit sets, based on a result of the determination by the command reach determination unit, a waiting period between the operation pattern at the time of the determination and the next operation pattern, wherein the slide is kept at its position during the waiting period.
Abstract: A motor drive system includes a converter configured to convert power between AC power in a power source and DC power in a DC link, an inverter for drive configured to convert power between the DC power in the DC link and AC power serving as drive power or regenerative power for a servomotor for drive, a motor control unit for drive configured to control the servomotor for drive connected to the inverter for drive, a power storage device configured to store the DC power from the DC link or to supply the DC power to the DC link, and a base holding energy change unit configured to change a base holding energy defined as a reference value of a holding energy of the power storage device, in accordance with the holding energy of the power storage device.
Abstract: The invention provides a servomotor controller that makes it possible to reduce compensation delay even when a dead band is provided. The servomotor controller includes a motion acquiring unit that acquires a motion of the servomotor, an acceleration amount acquiring unit that acquires an acceleration amount of the servomotor, a compensating unit that compensates a motion of the servomotor, and a compensation start determining unit that determines a start of the compensation by the compensating unit responsive to the motion of the servomotor, wherein the compensation start determining unit has a dead band unit that sets a dead band range which is a range of a predetermined value relative to the motion of the servomotor, and the dead band unit changes the dead band range based on the acceleration amount acquired by the acceleration amount acquiring unit.
Abstract: The present disclosure is intended to enable a user to grasp a state of load on an arithmetic processing unit (100, 200) so that the user can stop an excessive function of the arithmetic processing unit (100, 200), or can transfer part of arithmetic processes to another arithmetic processing unit (100, 200) with a small load. Included are the arithmetic processing unit (100, 200) that executes a plurality of processes related to servo control processing; and an observation unit (300) that determines at least one of point-of-time information about start of each of the processes executed by the arithmetic processing unit or point-of-time information about end of each of the processes executed by the arithmetic processing unit; and an output unit (400) that calculates information about usage of the arithmetic processing unit based on the point-of-time information determined by the observation unit, and outputs the calculated information.
Abstract: A controller includes a storage unit storing a plurality of sets of recommended setting values or recommended setting ranges regarding parameters for controlling an axis of a machine tool or an industrial machine or for controlling a motor, wherein set contents of the plurality of sets of recommended setting values or recommended setting ranges vary depending on a property of the machine tool, the industrial machine, or the motor; a comparing unit configured to compare input parameters with the recommended setting values or the recommended setting ranges corresponding to the property of a control target; and a comparison result presenting unit configured to present a warning when the input parameters differ from the recommended setting values or deviate from the recommended setting ranges corresponding to the property of the control target.
August 5, 2020
March 11, 2021
Yao LIANG, Yuuki KUMAMOTO, Satoshi IKAI
Abstract: A machine learning device acquires, as a label, a command output by a servo control apparatus to a control target device so as to drive and control the control target device. The machine learning device acquires, as input data, an output of the control target device driven based on the command, and constructs a learning model relating to feedforward control for correcting the command, by performing supervised learning by use of a set of the label and the input data serving as teaching data.
Abstract: A motor drive system includes a converter configured to convert power between AC power in a power source and DC power in a DC link, an inverter for drive configured to convert power between the DC power and AC power in a servomotor for drive, a motor control unit for drive configured to control the servomotor for drive, a power storage device configured to store the DC power from the DC link or supplies the DC power to the DC link, and a determination unit configured to determine whether the holding energy of the power storage device is lower than a threshold for energy shortage determination, wherein when the holding energy is lower than the threshold for energy shortage determination, the motor control unit for drive controls the servomotor for drive by setting an additional standby period in which the servomotor for drive is inactive in a predetermined operation pattern.
Abstract: A motor control device for controlling a servomotor to axially move a movement target object includes: a speed detector for detecting the movement speed of the movement target object; an abnormality detector for detecting an abnormality of the speed detector; a motor controller for performing deceleration control on the servomotor to decelerate the movement target object, upon detection of the abnormality; a reference speed generator for generating a reference speed that decreases with passage of time, based on the movement speed when the movement target object decelerates and a predetermined deceleration; a speed monitor for monitoring the movement speed and determining whether or not the movement speed is equal to or greater than the reference speed; and a brake controller for actuating a brake for braking axial movement of the movement target object when the movement speed is determined to be equal to or greater than the reference speed.
Abstract: The settling time of machine learning is shortened. A machine learning device is configured to perform machine learning related to optimization of coefficients of a transfer function of an IIR filter of a feedforward calculation unit with respect to a servo control device configured to control a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine using feedforward control by a feedforward calculation unit having the IIR filter. The machine learning device represents a zero-point at which the transfer function of the IIR filter is zero and a pole at which the transfer function diverges infinitely in polar coordinates using a radius r and an angle ?, respectively, and searches for and learns, within a predetermined search range, the radius r and the angle ? to thereby perform the optimization of the coefficients of the transfer function of the IIR filter.
Abstract: To provide a servo controller for an industrial machine allowing construction of a system achieving more excellent power efficiency than a conventional system. A servo controller includes: a driving motor that drives an industrial machine; a load detecting unit that detects a load on the driving motor or the amount of power consumed by the driving motor; a buffer motor that feeds regenerative power to the driving motor on the basis of a result of the detection by the load detecting unit; and a base speed setting unit for recovering the buffer motor to a second base speed set to be lower than a constant first base speed preset for the buffer motor and applied before the regenerative power is fed to the driving motor after the buffer motor is decelerated from the first base speed and the regenerative power is fed to the driving motor.