Diagnosis system for ball screw unit and motor control system
An object of the present invention is to preferably detect the failure accompanied with the decrease in the pre-load in a ball screw unit. The failure diagnosis is performed for the ball screw unit on the basis of a combination of a resonance frequency in an axial direction of a predetermined machine assembly including the ball screw unit and a motor and a position of a nut member on a screw shaft corresponding to the resonance frequency as provided when the screw shaft is driven and rotated by the motor.
1. A failure diagnosis system for performing failure diagnosis for a ball screw unit including a screw shaft which has a ball rolling groove formed on an outer circumferential surface and a nut member which is fitted to the screw shaft in such a state that a plurality of balls to roll in the ball rolling groove intervene therebetween and which is movable in an axial direction of the screw shaft by driving and rotating the screw shaft, the failure diagnosis system for the ball screw unit comprising:
a motor configured to drive and rotate the screw shaft;
a detecting device configured to detect a quantity of state in relation to a rotation state of the screw shaft; and
a diagnosis device configured to perform the failure diagnosis for the ball screw unit, wherein:
the diagnosis device has a frequency characteristic deriving unit configured to derive a resonance frequency in the axial direction of a predetermined machine assembly configured to include the ball screw unit and the motor on the basis of the quantity of state in relation to the rotation state of the screw shaft detected by the detecting device when the screw shaft is driven and rotated by the motor; and
the diagnosis device performs the failure diagnosis for the ball screw unit on the basis of a combination of the resonance frequency in the axial direction of the predetermined machine assembly derived by the frequency characteristic deriving unit and a stroke position of the nut member as a position of the nut member on the screw shaft corresponding to the derived resonance frequency.
2. The failure diagnosis system for the ball screw unit according to claim 1 , wherein the diagnosis device performs the failure diagnosis for the ball screw unit on the basis of whether or not the resonance frequency in the axial direction of the predetermined machine assembly derived by the frequency characteristic deriving unit is lower than a threshold frequency as decided depending on the stroke position of the nut member when the resonance frequency is derived.
3. The failure diagnosis system for the ball screw unit according to claim 1 , wherein:
the resonance frequencies in the axial direction of the predetermined machine assembly, which are provided when the stroke positions of the nut member are different from each other in the ball screw unit, are derived by the frequency characteristic deriving unit respectively; and
the diagnosis device specifies a failure occurrence position on the screw shaft on the basis of the combination of each of the stroke positions of the nut member and each of the resonance frequencies in the axial direction of the predetermined machine assembly corresponding thereto.
4. The failure diagnosis system for the ball screw unit according to claim 1 , wherein the diagnosis device further includes an information output unit configured to, when it is diagnosed that any failure occurs in the ball screw unit, output frequency characteristic information in relation to the resonance frequency in the axial direction of the predetermined machine assembly and the position information in relation to the stroke position of the nut member, as obtained in that situation, to a motor control device or an external device for applying a control signal to the motor.
5. A motor control system comprising:
the failure diagnosis system for the ball screw unit as defined in claim 4 ; and
the motor control device, wherein:
if the diagnosis device diagnoses in the failure diagnosis system that any failure occurs in the ball screw unit, the information output unit outputs the frequency characteristic information and the position information as obtained in that situation to the motor control device; and
the motor control device has a gain adjusting unit configured to adjust a control gain in the control signal applied to the motor on the basis of the frequency characteristic information and the position information outputted from the information output unit, when position control is executed for a table attached to the nut member after the failure diagnosis is carried out for the ball screw unit by the failure diagnosis system.