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1. 发明授权

US11381188B2 Setting support device 有权
公开(公告)号：US11381188B2
公开(公告)日：2022-07-05
申请号：US17261550
申请日：2019-08-07
申请人： OMRON Corporation
发明人： Takumi Fujioka , Mamoru Egi
IPC分类号： H02P23/00 , H02P23/14
摘要： A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies, for each control device state, a combined evaluation index value representative of the evaluation index values in the plurality of load device states, identified for that control device state by the first identification means; and a recommended-value output means that identifies and outputs a recommended value of at least one control parameter on the basis of the combined evaluation index value identified for each control device state by the second identification means.

2. 发明授权

US10926411B2 Control system 有权
公开(公告)号：US10926411B2
公开(公告)日：2021-02-23
申请号：US16485785
申请日：2018-01-30
申请人： OMRON Corporation
发明人： Mamoru Egi
IPC分类号： B25J9/16 , G05B13/04 , G05D3/12
摘要： 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.

3. 发明授权

US10012977B2 Control device, control method, information processing program, and recording medium 有权
公开(公告)号：US10012977B2
公开(公告)日：2018-07-03
申请号：US15341494
申请日：2016-11-02
申请人： OMRON Corporation
发明人： Yasushi Ono , Mamoru Egi , Yasutomo Kawanishi , Yasumoto Mori
IPC分类号： G05B11/18 , G05B19/416 , G05B11/42 , H02P29/00
CPC分类号： G05B19/416 , G05B11/42 , G05B19/19 , G05B2219/13095 , G05B2219/34013 , G05B2219/42104 , H02P2205/05
摘要： 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.

4. 发明授权

US11494465B2 Command value interpolation apparatus and servo driver 有权
公开(公告)号：US11494465B2
公开(公告)日：2022-11-08
申请号：US16644526
申请日：2018-11-02
申请人： OMRON Corporation
发明人： Mamoru Egi
IPC分类号： G06F17/17
摘要： Provided is an interpolation technique in which command values chronologically input can be interpolated without increasing a jerk and with less follow-up delay with respect to a command. A control unit (10) of a servo driver (20) has a function of sequentially generating, on the basis of four command values from x(k−2) to x(k+1), a kth interpolation function for calculating command values in a kth (≥3) time interval and a function of generating, as the kth interpolation function, a fifth-order equation with respect to time in which function values at a start time and an end time of the kth time interval match x(k) and x(k+1), respectively, and in which a second derivative value at a start time of the kth time interval matches a second derivative value at an end time of a (k−1)th time interval corresponding to a (k−1)th interpolation function.

5. 发明授权

US11137728B2 Processing device, control parameter determination method, and non-transitory recording medium storing a control parameter determination program 有权
公开(公告)号：US11137728B2
公开(公告)日：2021-10-05
申请号：US16485784
申请日：2018-01-30
申请人： OMRON Corporation
发明人： Kentaro Urabe , Mamoru Egi
IPC分类号： G05B13/04 , G06F30/20 , G06F9/38 , G06F17/15
摘要： 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. According to this configuration, a device control parameter of a motor control device in a control system can be accurately and efficiently determined.

6. 发明授权

US11121659B2 Evaluation device, evaluation method and control device 有权
公开(公告)号：US11121659B2
公开(公告)日：2021-09-14
申请号：US16485783
申请日：2018-01-30
申请人： OMRON Corporation
发明人： Yasushi Ono , Mamoru Egi
IPC分类号： H03K5/00 , H02P21/22 , H02P21/09 , G06F1/3203
摘要： 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.

7. 发明授权

US11106184B2 Control system 有权
公开(公告)号：US11106184B2
公开(公告)日：2021-08-31
申请号：US16644554
申请日：2018-12-12
申请人： OMRON Corporation
发明人： Mamoru Egi
IPC分类号： G05B13/04 , G05B19/05
摘要： A control system for causing an output of a control target to follow a command includes: a first processing device which is a processing device having a first processor and a prediction model that defines a correlation between a state variable with respect to the predetermined control target and a control input to the predetermined control target in the form of a state equation, performs model predictive control using the first processor, and outputs a servo command corresponding to the control input at an initial time point of the prediction interval; and a second processing device which is a processing device having a second processor different from the first processor and a feedback system including controllers to which a feedback signal related to an operation of the predetermined control target is input and receiving the servo command from the first processing device, and performs feedback control using the second processor.

8. 发明授权

US10386794B2 Control device, storage medium, and control system by creating internal model of control target 有权
公开(公告)号：US10386794B2
公开(公告)日：2019-08-20
申请号：US15869078
申请日：2018-01-12
申请人： OMRON Corporation
发明人： Mikiko Manabe , Masaki Namie , Mamoru Egi
IPC分类号： G11B13/02 , G05B13/02 , G05B13/04 , G05B17/02 , G05B19/05
摘要： 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.

9. 发明授权

US11513497B2 Control device 有权
公开(公告)号：US11513497B2
公开(公告)日：2022-11-29
申请号：US16644179
申请日：2018-12-12
申请人： OMRON Corporation
发明人： Mamoru Egi
IPC分类号： G05B19/4155 , G06N5/02
摘要： The present invention is a control device which includes a filter unit for performing an attenuation process at a predetermined frequency on a control input based on a predetermined target command, generates the control input through model predictive control executed by a model predictive control unit and causes an output of a predetermined control object to follow the predetermined target command. A prediction model defines a correlation between the control input and predetermined extended state variables including a state variable related to a predetermined control object and a predetermined filter state variable related to the filter unit, and a predetermined evaluation function for model predictive controls configured to calculate a state quantity cost that is a stage cost with respect to state variables except the predetermined filter state variable among the predetermined extended state variables, and a control input cost that is a stage cost related to the control input.

10. 发明授权

US11449032B2 Method for setting control parameters for model prediction control for control target with integrator 有权
公开(公告)号：US11449032B2
公开(公告)日：2022-09-20
申请号：US16644192
申请日：2019-01-11
申请人： OMRON Corporation
发明人： Mamoru Egi
IPC分类号： G05B19/4155 , B25J9/16 , G05B13/04
摘要： A setting method according to the present invention determines a desired time response in an optimum servo control structure corresponding to a servo control structure of a control target, calculates a predetermined gain corresponding to the desired time response, and calculates a first weighting coefficient Qf, a second weighting coefficient Q, and a third weighting coefficient R of a predetermined Riccati equation according to the Riccati equation on the basis of the predetermined gain. The first weighting coefficient Qf, the second weighting coefficient Q, and the third weighting coefficient R are set as a weighting coefficient corresponding to a terminal cost, a weighting coefficient corresponding to a state quantity cost, and a weighting coefficient corresponding to a control input cost, respectively, in a predetermined evaluation function for model prediction control.

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