US 11,809,148 B2
Parameter adjustment method for adjusting control parameters for device that performs servo control
Maki Nishimura, Kyoto (JP); Mamoru Egi, Kyoto (JP); Yasushi Ono, Kyoto (JP); Kenji Nakajima, Kyoto (JP); and Fumiaki Sato, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Appl. No. 17/614,670
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Mar. 2, 2020, PCT No. PCT/JP2020/008665
§ 371(c)(1), (2) Date Nov. 29, 2021,
PCT Pub. No. WO2020/261649, PCT Pub. Date Dec. 30, 2020.
Claims priority of application No. 2019-120833 (JP), filed on Jun. 28, 2019.
Prior Publication US 2022/0221827 A1, Jul. 14, 2022
Int. Cl. G05B 13/04 (2006.01); G05B 6/02 (2006.01)
CPC G05B 13/042 (2013.01) [G05B 6/02 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method, implemented by a computer, for adjusting control parameters for a control device including a feedback unit and a predetermined control structure, the feedback unit including one or more controllers to receive an input of a feedback signal for servo control on a control target as feedback, the predetermined control structure being configured to perform speed feed-forward control in the feedback unit, the computer comprising an upper-limit-feedback-gain-calculator, a feed-forward-gain-setter, and a feedback-gain-adjuster,
the method comprising:
calculating, by the upper-limit-feedback-gain-calculator, an upper limit of a feedback gain of the feedback signal within a range in which a predetermined index for the feedback gain satisfies a predetermined target value with a speed feed-forward gain for the speed feed-forward control set at a predetermined reference value;
setting, by the feed-forward-gain-setter, the feedback gain at an adjustment initial value lower than the upper limit, and setting, by the feed-forward-gain-setter, at least the speed feed-forward gain at a predetermined increased value higher than the predetermined reference value; and
increasing, by the feedback-gain-adjuster, the feedback gain from the adjustment initial value within a range in which the feedback gain does not exceed the upper limit with the speed feed-forward gain set at the predetermined increased value.