Title:
MACHINE LEARNING DEVICE, CONTROL DEVICE, AND MACHINE LEARNING METHOD
Document Type and Number:
WIPO Patent Application WO/2021/210483
Kind Code:
A1
Abstract:
The present invention improves the stability of a servo system by taking both a phase margin and a gain margin into consideration. A machine learning device which performs machine learning to optimize at least one of a coefficient of a filter and a feedback gain that are provided in a servo control device, the machine learning device comprising: a state information acquiring unit which acquires state information including the at least one of the coefficient and the feedback gain and including the input/output gain and the input/output phase delay of the servo control device; an action information output unit which outputs action information including adjustment information for the at least one of the coefficient and the feedback gain included in the state information; a reward output unit which obtains and outputs a reward on the basis of whether a Nyquist plot calculated from the input/output gain and the input/output phase delay passes through the inside of a closed curve which contains, on the inside thereof, (-1, 0) on the complex plane and which passes through a prescribed gain margin and phase margin; and a value function updating unit which updates a value function on the basis of the value of the reward, the state information, and the action information.
Inventors:
TSUNEKI RYOUTAROU (JP)
IKAI SATOSHI (JP)
IKAI SATOSHI (JP)
Application Number:
PCT/JP2021/014870
Publication Date:
October 21, 2021
Filing Date:
April 08, 2021
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
G05B13/02
Foreign References:
| JP2020057211A | 2020-04-09 | |||
| JPH0950303A | 1997-02-18 | |||
| JP2017034852A | 2017-02-09 |
Attorney, Agent or Firm:
SHOBAYASHI Masayuki et al. (JP)
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