CONTROL DEVICE, CONTROL PROGRAM AND CONTROL METHOD

• Main Authors: MURAI MASAHIRO, KOGA TATSUYA
• Format: Patent
• Language: English; Japanese
• Published: 05.04.2018
• Subjects: COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GRINDING; MACHINE TOOLS; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS; MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; METAL-WORKING NOT OTHERWISE PROVIDED FOR; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; POLISHING; REGULATING; TRANSPORTING

PROBLEM TO BE SOLVED: To achieve a structure capable of precisely estimating external force involving frictional force.SOLUTION: There is provided a control device that controls a control system including a motion body and a drive source which drives the motion body. The control device includes: actual value acquiring means for acquiring a torque actual value indicating a torque being produced by the drive source to drive the motion body, and a velocity actual value indicating a velocity of the motion body; estimating means for calculating, using an arithmetic expression indicating a model defined beforehand and relating to a drive to the motion body, an external force estimating value indicating external force applied to the control system and a velocity estimating value indicating the velocity of the motion body corresponding to the external force estimating value for each computing cycle on the basis of the torque actual value; and outputting means for evaluating a reliability of the external force estimating value on the basis of the velocity estimating value simultaneously calculated with the external force estimating value by the estimating means, and effectively outputting the external force estimating value when a determination is made such that there is a predetermined reliability.SELECTED DRAWING: Figure 11 【課題】摩擦力などを含む外力を精度よく推定できる構成が要望されている。【解決手段】運動体と当該運動体を駆動させる駆動源とを含む制御系を制御する制御装置が提供される。制御装置は、運動体を駆動させるために駆動源が発生しているトルクを示すトルク実績値、および、運動体の速度を示す速度実績値を取得する実績取得手段と、運動体の駆動に係る予め定められたモデルを示す演算式を用いて、トルク実績値に基づいて、制御系に生じる外力を示す外力推定値と当該外力推定値に対応する運動体の速度を示す速度推定値とを演算周期ごとに算出する推定手段と、推定手段が外力推定値を算出すると、併せて算出された速度推定値に基づいて外力推定値の信頼度を評価するとともに、所定の信頼度があると判断された場合に、当該外力推定値を有効に出力する出力手段とを含む。【選択図】図１１