Setting support device
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 a combined evaluation index value representative of the evaluation index values for the plurality of load device states, identified by the first identification means, on the basis of the evaluation index values for the plurality of load device states; and a display control means that displays, on a screen of a display, the combined evaluation index value identified by the second identification means.
1. A setting support device comprising:
a processor, configured to:
set a first set of control parameters configured to control a motor that drives a load device situated in a first orientation of a plurality of orientations, wherein the first set of control parameters comprises a first positional proportional gain and a first speed proportional gain;
calculate a first evaluation index value corresponding to the orientation from a first frequency response of the motor situated in the first orientation, wherein the first evaluation index value comprises a first gain peak value calculated based on the first positional proportional gain and the first speed proportional gain;
set a second set of control parameters configured to control the motor that drives the load device situated in a second orientation of the plurality of orientations, wherein the second first set of control parameters comprises a second positional proportional gain and a second speed proportional gain;
calculate a second evaluation index value corresponding to the second orientation from a second frequency response of the motor situated in the second orientation, wherein the second evaluation index value comprises a second gain peak value calculated based on the second positional proportional gain and the second speed proportional gain;
determine a combined evaluation index from an evaluation which takes evaluation index values corresponding to all of the plurality of orientations of the load device into account, the evaluation index values comprise the first evaluation index value and the second evaluation index value, and a third evaluation index value, wherein the combined evaluation index value is determined as a highest value among all of the evaluation index values corresponding to all of the plurality of orientations of the load device; and
identify a recommended positional proportional gain and a recommended speed proportional gain corresponding to the combined evaluation index which has been determined so as to set the recommended positional proportional gain and the recommended speed proportional gain to control the motor that drives the load regardless of orientation of the load device.
2. The setting support device according to claim 1 ,
wherein the highest value is a worst performance value of the evaluation index values among the plurality of orientations of the load device as the combined evaluation index value.
3. The setting support device according to claim 1 ,
wherein the processor is configured to display a graph illustrating a relationship between a value of the one of the first set of control parameters in each control device state and the combined evaluation index value for each control device state on the screen of the display.
4. The setting support device according to claim 1 , wherein the first evaluation index value and the second evaluation index value indicate a stability or control performance of motor control by the controller in each of the plurality of load device states in which the load device is in mutually different orientations.
5. The setting support device according to claim 1 , wherein the processor is configured to:
calculate the first evaluation value E by the following calculation expression of Math. 1, wherein K pp is the position proportional gain, K vp is the speed proportional gain, and q 1 and q 2 are constants,
E=q 1 K pp 2 +q 2 K vp 2 [Math. 1].
6. The setting support device according to claim 1 ,
wherein the first gain peak value and the second gain peak value are determined from a positional closed loop or a speed closed loop.
7. The setting support device according to claim 1 ,
wherein the second evaluation index value is a gain margin or a phase margin of a positional open loop or a speed open loop.
8. The setting support device according to claim 1 , wherein the processor is further configured to:
identify an optimum value for a parameter of a notch filter inside the controller in each of the plurality of load device states; identify, for each of the plurality of load device states, the third evaluation index value indicating a stability or control performance of motor control by the controller when a parameter value of the notch filter is the optimum value in each load device state; identifies, for each of the optimum values, another combined evaluation index value representative of the third evaluation index values in which the optimum value is identified as a value of the parameter of the notch filter; and identify and output a recommended value for the parameter of the notch filter on the basis of the another combined evaluation index value identified for each of the optimum values.
9. A setting support method implemented by a processor comprising: comprising:
setting a first set of control parameters configured to control a motor that drives a load device situated in a first orientation of a plurality of orientations, wherein the first set of control parameters comprises a first positional proportional gain and a first speed proportional gain;
calculating a first evaluation index value corresponding to the orientation from a first frequency response of the motor situated in the first orientation, wherein the first evaluation index value comprises a first gain peak value calculated based on the first positional proportional gain and the first speed proportional gain;
setting a second set of control parameters configured to control the motor that drives the load device situated in a second orientation of the plurality of orientations, wherein the second first set of control parameters comprises a second positional proportional gain and a second speed proportional gain;
calculating a second evaluation index value corresponding to the second orientation from a second frequency response of the motor situated in the second orientation, wherein the second evaluation index value comprises a second gain peak value calculated based on the second positional proportional gain and the second speed proportional gain;
determining a combined evaluation index from an evaluation which takes evaluation index values corresponding to all of the plurality of orientations of the load device into account, the evaluation index values comprise the first evaluation index value and the second evaluation index value, and a third evaluation index value, wherein the combined evaluation index value is determined as a highest value among all of the evaluation index values corresponding to all of the plurality of orientations of the load device; and
identifying a recommended positional proportional gain and a recommended speed proportional gain corresponding to the combined evaluation index which has been determined so as to set the recommended positional proportional gain and the recommended speed proportional gain to control the motor that drives the load regardless of orientation of the load device.
10. The setting support device of claim 1 , wherein the first evaluation index value further comprises a settling time or an overshooting amount.