Title:
CONTROL ASSISTANCE DEVICE, CONTROL SYSTEM, AND CONTROL ASSISTANCE METHOD
Document Type and Number:
WIPO Patent Application WO/2022/030346
Kind Code:
A1
Abstract:
The purpose of the present invention is to determine priority levels of resonance points and enable the allocation of filters in order from the resonance point with the highest priority level. A control assistance device according to the present invention implements assistance in order to adjust a coefficient for a plurality of filters provided to a servo control device that controls a motor. The control assistance device comprises: a resonance detection unit that detects a plurality of resonance points in frequency characteristics between an input/output gain and an input/output phase lag, of the servo control device, measured on the basis of an input signal and an output signal having varying frequencies; and a resonance evaluation unit that calculates the priority levels of the plurality of resonance points. The resonance evaluation unit calculates the priority level on the basis of a distance between a point (-1, 0) or a point (k, 0) (where k is a value less than -1) on a real axis on a complex plane, and a resonance point on a Nyquist locus calculated from the frequency characteristics between the input/output gain and the input/output phase lag.
Inventors:
TSUNEKI RYOUTAROU (JP)
Application Number:
PCT/JP2021/028041
Publication Date:
February 10, 2022
Filing Date:
July 29, 2021
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
G05B13/02; G05B11/36; H02P29/00
Foreign References:
| JP2009296746A | 2009-12-17 | |||
| JP2006288124A | 2006-10-19 | |||
| JP2020017071A | 2020-01-30 | |||
| JP2020057211A | 2020-04-09 |
Attorney, Agent or Firm:
SHOBAYASHI Masayuki et al. (JP)
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