Drive apparatus and machine learning apparatus
A drive apparatus which controls a speed or a torque of a servo motor of a processing machine according to a command obtained by converting an external command input from outside includes a machine learning apparatus which learns appropriate conversion from the external command to the command. The machine learning apparatus includes: a state observing unit which observes the external command, the command, and a state of the processing machine or the servo motor as state variables that represent a present state of an environment; a determination data acquiring unit which acquires determination data indicating an evaluation result of processing by the processing machine; and a learning unit which learns the external command and the state of the processing machine or the servo motor, and the command, in association with each other using the state variables and the determination data.
1. A drive apparatus for controlling a speed or a torque of a servo motor of a processing machine according to a command obtained by converting an external command input from outside,
the drive apparatus comprising a processor implementing a machine learning apparatus which learns appropriate conversion from the external command to the command, wherein
the machine learning apparatus includes:
a state observing unit implemented by said processor which observes state variables that represent a present state of an environment, the state variables including
the external command which is an analog command including an error,
the command generated by analogue-to-digital (A/D) conversion of the external command and applying correction thereto, and
a state of the processing machine or the servo motor including at least one of (i) a cycle time of processing, (ii) a shape and a raw material of a material used in the processing, or (iii) a shape and a raw material of a die used in the processing;
a determination data acquiring unit implemented by said processor which acquires determination data indicating an evaluation result of processing by the processing machine; and
a learning unit implemented by said processor which learns the external command and the state of the processing machine or the servo motor, and the command, in association with each other using the state variables and the determination data; and
the drive apparatus controlling the speed or the torque of the servo motor of the processing machine according to the command obtained by converting the external command input from outside.
2. The drive apparatus according to claim 1 , wherein
the state variables include, as the state of the processing machine or the servo motor, at least one of a speed command value, a torque command value, a position feedback, a speed feedback, a torque feedback, a motor current value, a motor temperature of each axis of the processing machine, or a temperature of each unit of the processing machine.
3. The drive apparatus according to claim 1 , wherein
the determination data includes at least one of a precision and a quality of a processed product, a vibration of the processing machine, a die, or a ball screw, a load on the servo motor, power consumption by the processing machine, or the cycle time of the processing.
4. The drive apparatus according to claim 1 , wherein
the learning unit includes:
a reward calculating unit implemented by said processor which obtains a reward related to the evaluation result; and
a value function updating unit implemented by said processor which updates, using the reward, a function representing a value of the command with respect to the external command and the state of the processing machine or the servo motor.
5. The drive apparatus according to claim 1 , wherein
the learning unit implemented by said processor calculates the state variables and the determination data in a multilayered structure.
6. The drive apparatus according to claim 1 , further comprising
a decision making unit implemented by said processor which outputs a value of the command based on a learning result by the learning unit.
7. The drive apparatus according to claim 1 , wherein
the learning unit implemented by said processor performs learning using the state variables and the determination data obtained from a plurality of the drive apparatuses.
8. The drive apparatus according to claim 1 , wherein
the machine learning apparatus is realized by a cloud computing environment, a fog computing environment, or an edge computing environment.
9. A machine learning apparatus for learning appropriate conversion from an external command that is input to a drive apparatus from outside to a command for controlling a speed or a torque of a servo motor of a processing machine, the machine learning apparatus implemented by a processor and comprising:
a state observing unit implemented by said processor which observes state variables that represent a present state of an environment, the state variables including
the external command which is an analog command including an error,
the command generated by analogue-to-digital (A/D) converting and correcting the external command, and
a state of the processing machine or the servo motor including at least one of (i) a cycle time of processing, (ii) a shape and a raw material of a material used in the processing, or (iii) a shape and a raw material of a die used in the processing;
a determination data acquiring unit implemented by said processor which acquires determination data indicating an evaluation result of processing by the processing machine; and
a learning unit implemented by said processor which learns the external command and the state of the processing machine or the servo motor, and the command, in association with each other using the state variables and the determination data; and
the drive apparatus controlling the speed or the torque of the servo motor of the processing machine according to the command obtained by converting the external command input from outside.