JP2019153040A - Control parameter adjustment method and control parameter adjustment system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control parameter adjusting method and a control parameter adjusting system capable of suppressing the occurrence of wear and tear of parts of an apparatus by performing control corresponding to an abnormality generated at the time of adjusting the control parameters. SOLUTION: A control parameter adjusting method includes a drive start step of starting driving of a plurality of drive systems by a position control device using control parameters, and whether or not an abnormality has occurred after starting the drive of a plurality of drive systems. The abnormality judgment process to determine whether or not, and the positioning data of each of the multiple drive systems are collected, the feature amount of each positioning data of the multiple drive systems is evaluated using a genetic algorithm, and the evaluation value is required. It includes an adjustment step of adjusting the control parameters to satisfy the performance. As a result of the judgment of the abnormality judgment process, a plurality of drive systems are stopped according to the judgment that an abnormality has occurred. [Selection diagram] Fig. 3

Description

  The present disclosure relates to a control parameter adjustment method and a control parameter adjustment system for adjusting a control parameter of a position control device that controls a plurality of drive systems capable of driving a plurality of position control objects independently of each other.

  In a plurality of drive systems capable of driving a plurality of position control objects independently from each other, there are cases where gears of the plurality of drive systems come into contact with each other and exert a frictional force upon driving. For example, in a rotary head type (revolver head type) component mounting machine, as described in Patent Document 1 below, an R-axis drive system that rotates the mounting head of the component mounting machine, and a plurality of components supported by the mounting head A Q-axis driving system for rotating the suction nozzle is provided, and the gears of both driving systems are in contact with each other and exert a frictional force on each other during driving. In such a configuration, there is a possibility that the position control performance deteriorates due to the influence of the driving state of each driving system due to the frictional force acting on each driving system.

  On the other hand, Patent Document 1 searches for a control parameter whose position control performance satisfies the required performance. The control parameter adjustment system of Patent Document 1 collects positioning data of each driving system by simultaneously driving two driving system motors, and evaluates the feature quantity of the positioning data of each driving system using a genetic algorithm. The control parameters are adjusted so that the evaluation value satisfies the required performance.

JP 2012-234451 A

  However, in the control parameter adjustment system described above, an abnormality occurs due to various factors. For example, since the control parameter adjustment system performs the adjustment work while changing the control parameter, the value of the control parameter becomes unstable and an abnormality such as oscillation occurs. As a result, there is a risk that the parts of the apparatus are worn or damaged.

  The present disclosure has been made in view of such circumstances, and a control parameter adjustment method capable of suppressing the occurrence of wear and damage of parts of the apparatus by performing control corresponding to an abnormality that has occurred during adjustment of the control parameter. It is another object of the present invention to provide a control parameter adjustment system.

In order to solve the above-described problem, the present disclosure controls a plurality of drive systems that can drive a plurality of position control objects independently of each other, and that have a relationship of exerting frictional forces on each other during driving. A control parameter adjustment method for adjusting a control parameter of a position control device that performs a drive start step of starting driving of the plurality of drive systems by the position control device using the control parameter; and After starting driving, an abnormality determining step for determining whether or not an abnormality has occurred, and collecting positioning data of each of the plurality of driving systems, and using a genetic algorithm, said each of the plurality of driving systems An adjustment step of evaluating the feature amount of the positioning data and adjusting the control parameter so that the evaluation value satisfies the required performance, as a result of the determination in the abnormality determination step, In response to the serial abnormality is judged to have occurred, stopping the plurality of drive systems, discloses a control parameter adjustment method.
The contents of the present disclosure can be implemented not only as a control parameter adjustment method for adjusting a control parameter, but also as a control parameter adjustment system for executing the control parameter adjustment method.

  According to the control parameter adjustment method and the control parameter adjustment system of the present disclosure, when an abnormality occurs during the adjustment of the control parameter, the plurality of drive systems to be controlled are stopped. Thereby, it is possible to suppress the occurrence of wear and damage of components included in the drive system device by quickly stopping the drive system when an abnormality occurs.

It is a figure which shows the structure of the adjustment system of this embodiment. It is a flowchart which shows the flow of a process of a control parameter adjustment program. It is a flowchart which shows the flow of a process of a control parameter adjustment program.

  Hereinafter, an embodiment in which a form for carrying out the present disclosure is applied to a control parameter adjusting method for a rotary head type component mounting machine will be described. FIG. 1 shows a configuration of an adjustment system 10 as an embodiment embodying the control parameter adjustment system of the present application.

  As shown in FIG. 1, the adjustment system 10 includes a mounting head driving device 11, an R-axis motor 16, a Q-axis motor 24, and a position control device 28. First, the configuration of the mounting head driving device 11 will be described. The mounting head drive device 11 includes an R-axis drive system that rotates the mounting head 13 of a component mounter (not shown), and a Q-axis drive system that rotates a plurality of suction nozzles 12 supported by the mounting head 13. It has been.

  The mounting head drive device 11 includes a mounting head 13 that supports a plurality of suction nozzles 12 downward. The mounting head 13 is provided at the lower end of the R shaft 14. An R-axis gear 15 is provided at the upper end 14A of the R-axis 14. A gear 17 fixed to the rotation shaft 16 </ b> A of the R-axis motor 16 is engaged with the R-axis gear 15. When the gear 17 is rotated by the R-axis motor 16, the R-axis gear 15 is rotated by the rotation of the gear 17, and the mounting head 13 rotates integrally with the plurality of suction nozzles 12 around the R-axis 14. ing.

  On the R-axis 14, two upper and lower Q-axis gears 20 and 21 are rotatably supported. The lower Q-axis gear 21 meshes with a gear 23 provided at the upper end of a rotary shaft 22 that rotates integrally with each suction nozzle 12. A gear 25 fixed to the rotary shaft 24A of the Q-axis motor 24 is engaged with the upper Q-axis gear 20. When the gear 25 is rotated by the Q-axis motor 24, the Q-axis gears 20 and 21 are integrally rotated by the rotation of the gear 25, the gears 23 are rotated, and the suction nozzles 12 are rotated about the rotation shafts 22. It is like that.

  Each of the R-axis motor 16 and the Q-axis motor 24 is controlled by a position control device 28. The R-axis motor 16 is equipped with a rotation angle sensor 29 such as a rotary encoder that detects the rotation angle of the motor. Similarly, a rotation angle sensor 30 such as a rotary encoder that detects the rotation angle of the motor is mounted on the Q-axis motor 24. The output signals of the rotation angle sensors 29 and 30 are input to the position control device 28.

  The position control device 28 includes, for example, a first IF (abbreviation of interface) 31, a second IF 32, a user IF 33, a CPU 34, a storage unit 35, and the like. The first IF 31, the second IF 32, etc. can communicate with each other via a bus 37. The first IF 31 is connected to the R-axis motor 16 via the first amplifier 41. The second IF 32 is connected to the Q-axis motor 24 via the second amplifier 43. The first amplifier 41 and the second amplifier 43 are amplifier circuits that supply driving power to the R-axis motor 16 and the Q-axis motor 24, for example. The first amplifier 41 and the like determine the driving power (current value and voltage value) by multiplying the value of the torque command input from the first IF 31 and the like by a torque constant or the like. Thereby, the driving state of the R-axis motor 16 and the Q-axis motor 24 is controlled according to the absolute value of the waveform of the torque command. The user IF 33 includes, for example, an output device such as a liquid crystal monitor and an input device such as a mouse and a keyboard. The storage unit 35 is configured by, for example, a RAM, a ROM, an HDD, or a combination thereof. The storage unit 35 stores a control parameter adjustment program PG. The CPU 34 comprehensively controls the adjustment system 10 by executing the control parameter adjustment program PG stored in the storage unit 35.

  In the following description, the position control device 28 that executes the control parameter adjustment program PG in the CPU 34 may be simply described by the device name. For example, “the position control device 28 drives the R-axis motor 16” means that “the position control device 28 executes the control parameter adjustment program PG in the CPU 34 and issues a torque command to the first amplifier 41, It may mean "to drive the motor 16".

  The position control device 28 executes a combination of a feedback control system (F / B control system) and a feedforward control system (F / F control system). The position control device 28 receives the output signals of the rotation angle sensors 29 and 30 via the first IF 31 and the second IF 32 and detects the position of the position control target (such as the suction nozzle 12 and the mounting head 13) and the R-axis motor 16. The Q-axis motor 24 is driven to control the position control object to be driven to the command position.

  In the mounting head drive device 11 configured as described above, the R-axis drive system that rotates the mounting head 13 and the Q-axis drive system that rotates the plurality of suction nozzles 12 supported by the mounting head 13 come into contact with each other. There is a relationship in which frictional forces are exerted on each other during driving. For example, the gear 23 rotates as the Q-axis gear 21 (Q-axis gear 20) rotates. Thereby, each suction nozzle 12 rotates around each rotation shaft 22. On the other hand, the mounting head 13 that holds the plurality of suction nozzles 12 rotates as the R-axis gear 15 and the R-axis 14 rotate. If only the mounting head 13 is rotated without rotating the Q-axis gear 21, in addition to the rotational force of the mounting head 13, the rotation shaft 22 is subjected to friction generated by the meshing of the gear 23 and the Q-axis gear 21. A corresponding force is applied. The force corresponding to this frictional force acts in the direction in which the gear 23 is rotated, that is, the rotating shaft 22 is rotated. For this reason, when it is not desired to rotate the rotating shaft 22, it is necessary to rotate the Q-axis gear 21 according to the rotation of the mounting head 13. Thus, in the process of adjusting the control parameter of the position control device 28, it is necessary to consider the influence of the frictional force generated by the meshing of the gears of each drive system.

  Therefore, in this embodiment, in the process of adjusting the control parameters of the position control device 28, the position control device 28 drives the two drive system motors (R-axis motor 16, Q-axis motor 24) simultaneously to each drive system. Position data is collected, the genetic data is used to evaluate the feature quantity of the positioning data of each drive system, and the control parameters are adjusted so that the evaluation value satisfies the required performance (design specifications). Yes. At this time, the position control device 28 drives the two drive systems and then executes control according to the occurrence of the abnormality. It should be noted that a position command waveform (such as a torque command), an actual position waveform, and a torque waveform are sampled as positioning data for each drive system, and the positioning waveform is evaluated as a feature amount of the positioning data for each drive system. The control parameters to be adjusted are preferably position command parameters, feedback gain parameters, and feedforward gain parameters. Further, the position control device 28 does not need to start driving the two drive systems at the same time. For example, the Q-axis motor 24 may be driven after the R-axis motor 16 is driven. That is, the order of driving is not particularly limited as long as both the two driving systems are driving.

  FIG. 2 shows the flow of processing of the control parameter adjustment program PG. For example, the position control device 28 of the present embodiment executes the control parameter adjustment program PG by the CPU 34 in response to an operation input to the user IF 33 by the user, and starts the process shown in FIG. First, when the process shown in FIG. 2 is started, the CPU 34 creates a control parameter for evaluation in a step (hereinafter simply referred to as “S”) 11. When the CPU 34 executes S11 for the first time after starting the process of FIG. 2, for example, an initial value (for example, a design value, a median value, etc.) preset in the control parameter adjustment program PG is set as a control parameter. Note that the CPU 34 may use the value received via the user IF 33 as the initial value of the control parameter. The CPU 34 executes S11 again after executing S27 described later. When executing the second and subsequent S11, the CPU 34 sets a control parameter corresponding to the evaluation result (such as an optimal solution) as a control parameter for the next evaluation.

  Next, the CPU 34 reflects the control parameters set in S11 on the drive system (S13). For example, the CPU 34 sets the control values created in S11 to set values (position command parameters, feedback gain parameters, etc.) for controlling the amplifiers (the first amplifier 41 and the second amplifier 43) that drive the R-axis motor 16 and the Q-axis motor 24. Reflects the parameter value. The CPU 34 starts the evaluation operation after reflecting the control parameters in each drive system (S15). The CPU 34 drives, for example, two drive system motors (R-axis motor 16 and Q-axis motor 24) simultaneously.

  After starting the driving of the two drive systems, the CPU 34 determines whether an abnormality has occurred (S17). When the CPU 34 determines that an abnormality has occurred (S17: YES), it executes S31 of FIG. On the other hand, when determining that no abnormality has occurred (S17: NO), the CPU 34 sets zero as the number of continuous detections (S19). As will be described later, the number of continuous detections is the number of continuous detections of oscillation as the type of abnormality. The CPU 34 performs the processing after S31, and performs the evaluation operation again if the continuous detection count is equal to or less than the allowable value detection count (S41: NO in FIG. 3). The CPU 34 executes the evaluation operation again, and if the abnormality does not recur (S17: NO), the CPU 34 resets the number of continuous detections measured up to that point (S19). Note that the CPU 34 does not need to reset the number of times of continuous detection without executing S19.

  Next, after executing S19, the CPU 34 collects a position command waveform, an actual position waveform, and a torque waveform, which are positioning data of each drive system (S21). When the positioning data is collected (S21), the CPU 34 calculates the current evaluation value for the positioning performance of each drive system (S23). Here, as an evaluation item, the following six are mentioned, for example. Note that these evaluation items are examples, and it goes without saying that the evaluation items may be changed according to the design specifications.

  The first evaluation item is torque saturation, and a function for evaluating whether or not the actual torque waveform deviates from the design specification torque upper limit value within an arbitrary evaluation time defined by the operator is used. Specifically, a value obtained by multiplying the number of counts of output pulses (encoder pulses) of the rotation angle sensors 29 and 30 during a period in which the torque value is saturated within the evaluation time by an arbitrary weight function is evaluated. Value.

The second evaluation item is stop position accuracy, and a function for evaluating whether or not the actual position waveform has reached the design specification stop position accuracy within the design specification movement time is used. Specifically, within the evaluation time,
“| Target stop position accuracy-Actual maximum stop position accuracy | ÷ Target stop position accuracy”
A value obtained by multiplying an arbitrary weight with is set as an evaluation value.

The third evaluation item is a movement time, and a function for evaluating whether or not the actual position waveform has reached within the design specification movement time is used. Specifically, within the evaluation time,
“| Target travel time-Actual travel time | ÷ Target travel time”
A value obtained by multiplying an arbitrary weight with is set as an evaluation value.

  The fourth evaluation item is deviation integration, and uses a function that evaluates whether or not the actual position waveform has high convergence with respect to the target stop position after reaching the design specification movement time. Specifically, a value obtained by multiplying the absolute value integral of the position deviation by an arbitrary weight within the evaluation time is set as the evaluation value.

  The fifth evaluation item is a vibration condition, and a function for evaluating whether or not a vibration element is included in the actual position waveform within an arbitrary evaluation time defined by the operator is used. Specifically, a value obtained by multiplying the presence / absence of the vibration waveform of the position deviation by an arbitrary weight within the evaluation time is set as the evaluation value.

  The sixth evaluation item is an overshoot condition, and uses a function that evaluates the deviation from the threshold of the design specification accuracy once the actual position waveform reaches the target stop position. Specifically, a value obtained by multiplying the maximum overshoot amount by an arbitrary weight within the evaluation time is set as the evaluation value.

  The “weight” of each of the six evaluation items is a coefficient that can be arbitrarily set by the worker, and is a value indicating the priority of each evaluation item. The higher the priority, the larger the value (the lower the priority). The smaller the value). Thereby, in the evaluation item with high priority, the evaluation value is relatively large.

  After calculating the evaluation values of the six evaluation items in S23, the CPU 34 determines whether or not the end condition is satisfied (S25). The termination condition is not particularly limited. For example, the termination condition is a condition that the final evaluation value satisfies the design specification (required performance). In this case, the CPU 34 calculates a final evaluation value in S25, and executes S29 when the calculated evaluation value satisfies the design specification (required performance) (S25: YES).

  For example, the CPU 34 calculates the sum total of the evaluation values of the six evaluation items described above as the final evaluation value. Note that the final evaluation value is not limited to the sum of the evaluation values of the six evaluation items. For example, among the evaluation values of the six evaluation items, the top three evaluation values (e.g., the three evaluation values having a large evaluation value) The sum or the evaluation value having the highest evaluation among the six evaluation items may be used as the final evaluation value. Further, the end condition is not limited to a condition in which the above-described final evaluation value satisfies the setting specification. For example, the termination condition may be a condition in which the number of times of repeating the processes of S11 to S27 reaches a set number (for example, 10 times). In this case, for example, when the evaluation operation from S11 is executed 10 times, the CPU 34 determines that the termination condition is satisfied in S25 (S25: YES). Alternatively, the termination condition may be, for example, a condition in which a final evaluation value satisfies the design specification and an evaluation operation that satisfies the design specification is executed a predetermined number of times. That is, both the design specification and the number of repetitions may be included in the end condition.

  When determining that the termination condition is not satisfied in S25 (S25: NO), the CPU 34 compares the final evaluation value of this time (sum total etc.) with the evaluation value of the current optimum solution (S27). The evaluation value of the current optimal solution is, for example, the final evaluation that has obtained a higher evaluation in the determination of S27 among the final evaluation values of the evaluation operation executed in the past until the execution of the current evaluation operation. Value. That is, every time S27 is executed, the CPU 34 compares the final evaluation value of this time with the final evaluation value having the highest evaluation in the past. When the CPU 34 acquires a final evaluation value with higher evaluation, the CPU 34 sets the final evaluation value as the evaluation value of the optimum solution. The CPU 34 stores the final evaluation value of this time as the evaluation value of the optimal solution in response to the fact that the final evaluation value of the current time is optimal (for example, a larger value) than the evaluation value of the current optimal solution. To do. The CPU 34 updates the evaluation value of the optimum solution stored in the storage unit 35 with the final evaluation value of this time (S27). For example, the CPU 34 stores the current control parameter in the storage unit 35 in association with the evaluation value of the optimal solution. Thereby, an optimal control parameter can be obtained. On the other hand, when the final evaluation value of this time is inferior to the evaluation value of the current optimal solution (for example, a smaller value), the CPU 34 does not update the evaluation value of the optimal solution and controls associated with the optimal solution. The parameters are not updated (S27).

  After executing S27, the CPU 34 executes S11 again. The CPU 34 creates, for example, the next evaluation control parameters (position command parameter, feedback gain parameter, and feed forward gain parameter) using the evaluation value of the current optimum solution as a reference value (S11). Then, the CPU 34 simultaneously drives the two drive system motors (R-axis motor 16, Q-axis motor 24) again using the updated control parameters (S13, S15). If there is no abnormality (S17: NO), the CPU 34 collects positioning data for each drive system (S21), and thereafter repeats the processing of each step described above to search for more optimal evaluation values and control parameters.

  On the other hand, if the CPU 34 determines in S25 that the end condition is satisfied (S25: YES), it executes S29. In S29, as in S27, the CPU 34 compares the final evaluation value of this time with the evaluation value of the current optimal solution, and if a higher final evaluation value is obtained, the optimal solution and control parameters of the storage unit 35 are obtained. Is updated (S29). The CPU 34 ends the automatic adjustment of control parameters. Thereby, it is possible to obtain the evaluation value of the optimum solution having the highest evaluation among the final evaluation values collected over a plurality of times and the control parameter used at that time.

  Next, the operation when an abnormality occurs will be described. As described above, when the CPU 34 determines that an abnormality has occurred in S17 (S17: YES), the CPU 34 executes the processes after S31 in FIG. Examples of abnormalities that occur during control parameter adjustment include the following three abnormalities. The CPU 34 monitors the following three abnormalities during the evaluation operation, and executes S31 when detecting the abnormalities (S17: YES). In addition, the CPU 34 of the present embodiment processes the first coincidence timeout abnormality and the second oscillation detection abnormality among the following three abnormalities as minor abnormalities. Further, the CPU 34 processes the remaining other abnormalities as serious abnormalities. Needless to say, these types of abnormality, minor or serious criteria are examples, and may be changed as appropriate. For example, only the oscillation detection abnormality may be processed as a minor abnormality, and all other abnormalities may be processed as serious abnormalities.

  First, the coincidence timeout abnormality (minor abnormality) which is the first abnormality will be described. For example, in the feedback control for the R-axis motor 16 and the Q-axis motor 24, the CPU 34 detects a coincidence timeout abnormality when detecting a state in which the relative position to the control target position does not converge within a certain width within a certain time. To do.

  Next, the second abnormality is an oscillation detection abnormality (minor abnormality). In the adjustment system 10 of the present embodiment, each drive system is driven while changing the value of the control parameter. For this reason, depending on the value of the control parameter, the operation of the R-axis motor 16 and the like becomes unstable, and vibration is generated in each drive system. Therefore, the CPU 34 detects the oscillation of the mounting head driving device 11 as abnormal. The method for detecting oscillation is not particularly limited. Here, the CPU 34 outputs a torque command to the first amplifier 41 and the second amplifier 43. The first amplifier 41 and the second amplifier 43 change the current value and the voltage value supplied to the R-axis motor 16 and the Q-axis motor 24 based on a torque command from the CPU 34. For example, the CPU 34 performs oscillation event monitoring and instantaneous maximum torque monitoring based on this torque command, and when oscillation is detected by either monitoring, it is determined that an oscillation abnormality has occurred.

  In the oscillation event monitoring, the CPU 34 monitors the torque vibration waveform. The torque vibration waveform is, for example, a waveform obtained by applying a high-pass filter to a torque command value output from the first IF 31 or the second IF 32 to the first amplifier 41 or the second amplifier 43, that is, a high-frequency waveform. When oscillation occurs in the mounting head driving device 11, output pulses (encoder pulses) of the rotation angle sensors 29 and 30 pulsate. As a result, the value of the torque command output to the first amplifier 41 or the second amplifier 43 by the feedback control or the like also pulsates. In the torque command, a high-frequency torque vibration waveform is generated due to the oscillation of the drive system. When no oscillation occurs, the torque command value has a relatively low frequency waveform. On the other hand, the vibration component resulting from oscillation contains a lot of high frequency components. Therefore, the CPU 34 detects oscillation by monitoring a high-frequency torque vibration waveform in the torque command. For example, the CPU 34 counts the number of times that the absolute value of the high-frequency torque vibration waveform exceeds a predetermined upper limit value. Then, the CPU 34 determines that an oscillation abnormality has occurred when the number of times the upper limit value has been exceeded becomes a predetermined threshold value or more. Thereby, the oscillation of the drive system can be detected according to the change of the torque command. In addition, by determining that oscillation has occurred when the number of times the absolute value has exceeded the upper limit has increased to a certain level (threshold), it is possible to suppress erroneous detection of high frequency temporarily generated due to noise or the like as oscillation. . That is, the oscillation detection accuracy can be increased. Note that the CPU 34 preferably resets the counted number at the start of the evaluation operation or when the R-axis motor 16 or the like is stopped.

  In the instantaneous maximum torque monitoring, the CPU 34 monitors the absolute value of the torque command. In the above-described oscillation event monitoring for monitoring the torque vibration waveform, it may take time for the high-pass filter processing and the like, and sudden oscillation may not be detected. Therefore, the CPU 34 monitors the absolute value of the torque command output to the first amplifier 41 and the like, and determines that an oscillation abnormality has occurred when the absolute value of the torque command exceeds the maximum torque limit value. This maximum torque limit value is, for example, a value of a torque command that has increased to a level that does not occur during a normal command, and is a reference value that can detect a value of a torque command that suddenly increases in response to oscillation. According to this, by monitoring the absolute value of the torque command, suddenly generated oscillation can be detected more quickly. The method for detecting oscillation is not limited to the method based on the value of the torque command, and for example, a vibration sensor may be attached to the mounting head drive device 11 for detection.

  Next, the third serious abnormality will be described. The CPU 34 detects an abnormality other than the above two abnormalities as a serious abnormality. Examples of serious abnormalities include communication abnormalities and overloads. For example, when the communication with the rotation angle sensors 29 and 30 is disconnected and the encoder pulse cannot be acquired, the CPU 34 determines that a communication abnormality has occurred (S17: YES). Further, the CPU 34 determines that an overload abnormality has occurred, for example, when the torque acting on the rotary shafts 16A and 24A exceeds a specified value (S17: YES). The serious abnormality is not limited to the above, and may be, for example, a temperature abnormality of the mounting head driving device 11 or a processing abnormality of the amplifier (the first amplifier 41 or the second amplifier 43). The serious abnormality may be an abnormality in software processing in the CPU 34 or an abnormality in hardware processing such as overcurrent. A serious abnormality may be a deviation limit error. The deviation limit error is an error in which a difference between a target position in feedback control or the like and an actual position exceeds a predetermined range.

  Returning to FIG. 3, the CPU 34 stops the R-axis motor 16 and the Q-axis motor 24 in S31. Further, the CPU 34 stores, for example, a flag value indicating that an abnormality has occurred in the storage unit 35 (S31). In this state, the abnormal state is maintained and the R-axis motor 16 and the Q-axis motor 24 are not driven unless the flag value is reset and the abnormal state is canceled in S37 described later.

  After executing S31, the CPU 34 executes S33. In S33, the CPU 34 determines whether or not the abnormality detected in S17 corresponds to a minor abnormality (the first abnormality or the second abnormality described above in the present embodiment). If the CPU 34 determines that the abnormality detected in S17 is a minor abnormality (S33: YES), it determines whether the minor abnormality is an oscillation detection abnormality (S35).

  If the CPU 34 determines that the minor abnormality is not the oscillation detection abnormality (S35: NO), it executes S37. In this case, in the present embodiment, the minor abnormality of the coincidence timeout abnormality described above has occurred. In S37, the CPU 34 resets the flag value indicating the abnormal state set in S31 and cancels the abnormal state. After executing S37, the CPU 34 sets the worst value as the final evaluation value this time (S39).

  Here, as described above, the CPU 34 calculates an evaluation value from the positioning data collected from each drive system, and sets the sum of the evaluation values as a final evaluation value. Then, the CPU 34 compares the final evaluation values in S27 and S29 of FIG. 2, and determines the evaluation value of the optimum solution. However, if an abnormality occurs, positioning data cannot be collected, or even if it can be collected, there is a high possibility that the positioning data is not normal data. Therefore, the CPU 34 sets the worst value as the final evaluation value for this time without calculating the evaluation value for this time (when an abnormality occurs). The worst value is a value evaluated lowest in the comparison of the final evaluation values, and is, for example, zero. After executing S39, the CPU 34 executes S25 in FIG. Thereby, in S27 and S29, the CPU 34 prioritizes the evaluation value of the optimum solution up to the previous time without adopting the final evaluation value of this time, that is, the worst value.

  Further, in response to determining that an abnormality has occurred (S17: YES), the CPU 34 of the present embodiment determines whether or not the abnormality that has occurred is a minor abnormality (S33). In response to determining that the abnormality that has occurred is a minor abnormality (S33: YES), the CPU 34 drives the plurality of stopped drive systems again and restarts the adjustment process (S39 → S25). According to this, when the abnormality that has occurred is a minor abnormality, the control parameter adjustment operation is automatically resumed. If there is no serious abnormality that causes wear or the like of the components included in the mounting head drive device 11, the adjustment operation can be continued as much as possible to adjust the control parameter.

  In S35, for example, when the oscillation is detected by the above-described oscillation event monitoring or instantaneous maximum torque monitoring, the CPU 34 determines that a minor abnormality is an oscillation detection abnormality (S35: YES). When the CPU 34 determines that the minor abnormality is the oscillation detection abnormality (S35: YES), the CPU 34 determines whether or not the number of continuous detections is greater than the allowable number of continuous detections (S41). When determining that the number of continuous detections is equal to or less than the allowable number of continuous detections (S41: NO), the CPU 34 increases the number of continuous detections by one (S43). After executing S43, the CPU 34 executes S37. Therefore, the CPU 34 tries to collect the evaluation value again even if the oscillation detection abnormality occurs until the number of continuous detections exceeds the allowable number of continuous detections.

  Here, if wear or damage or the like occurs in the components of the mounting head driving device 11, the mounting head driving device 11 cannot operate normally and may oscillate repeatedly. Therefore, the CPU 34 executes the evaluation operation up to a preset allowable continuous detection count, and if it still oscillates, ends the evaluation operation. For this reason, the allowable continuous detection number used in S41 is a reference number by which it can be determined whether, for example, the oscillation is continuously generated due to damage or the like. The structure of the mounting head drive device 11, the probability of occurrence of oscillation, and the drive after oscillation It can be set in advance according to the durability that can be continued.

  On the other hand, when the CPU 34 determines that the number of continuous detections is larger than the allowable number of continuous detections (S41: YES), the CPU 34 executes an end operation after S45. If the CPU 34 determines in S33 that the abnormality detected in S17 is not a minor abnormality, that is, a serious abnormality (S33: NO), the CPU 34 executes an end operation after S45.

  In S45, the CPU 34 creates and saves data for resumption. The CPU 34 stores, for example, the values of the control parameters used in the evaluation operation until the current abnormal stop, the presence / absence information on the occurrence of an abnormality when using each control parameter, the evaluation value of each evaluation operation, and the like as resumption data. 35. After executing S45, the CPU 34 executes S47. In S47, the CPU 34 stores the evaluation value of the current optimal solution in the storage unit 35 in association with the restart data. As described above, the CPU 34 stores the evaluation value of the optimum solution up to that point in the storage unit 35 in S27. For this reason, the CPU 34 associates the evaluation value of the optimum solution with the resuming data created in S45 and stores it in the storage unit 35. The CPU 34 ends the automatic adjustment (S47).

  Therefore, the CPU 34 of the present embodiment, when the abnormality that has occurred is not a minor abnormality (S33: NO), or when the number of continuous detections exceeds the allowable number of continuous detections (S41: YES), the adjustment acquired by the evaluation operation The data inside is saved as resuming data (S45). Further, the CPU 34 stores the evaluation value of the optimum solution at that time in the storage unit 35 in association with the resuming data (S47). According to this, in the case where a serious abnormality other than a minor abnormality occurs and the evaluation operation is terminated, the data on the way adjusted so far is stored as resuming data or the like. After the abnormality is recovered, the evaluation operation can be resumed from the stage during the adjustment that is interrupted due to the abnormality by using the restart data and the evaluation value of the optimum solution stored in the storage unit 35. As a result, the time required for the evaluation operation can be shortened compared to the case where the evaluation operation is restarted from the beginning after the abnormality is recovered. For example, when the adjustment of the control parameter has progressed to some percent of the whole, the user does not need to perform the adjustment from the beginning by saving the halfway progress of the adjustment as resuming data or the like.

  In addition, the CPU 34 according to the present embodiment determines that the slight abnormality that has occurred is oscillation (S35: YES), and the number of continuous detections that is the number of times that oscillation has continuously occurred is the allowable number of continuous detections. It is determined whether or not there are more (S41). In response to determining that the number of continuous detections is greater than the allowable number of continuous detections (S41: YES), the CPU 34 stores the resumption data. When oscillation continuously occurs in the drive system, there is a possibility that parts of the mounting head drive device 11 are about to be damaged or have already been damaged. Therefore, when the number of continuous oscillation detections exceeds the allowable number of continuous detections, the evaluation operation is terminated, and the data that has been adjusted so far is stored as restart data. As a result, it is possible to reduce the time required for the evaluation operation after recovery from an abnormality while preventing damage to parts and the like. In this way, the CPU 34 of the present embodiment executes control when an abnormality occurs.

  According to the embodiment described above, when an abnormality occurs during the adjustment of the control parameter (S17: YES), the plurality of drive systems to be controlled are stopped (S31). Thereby, it becomes possible to suppress the occurrence of wear or breakage of the components included in the mounting head drive device 11 by quickly stopping the drive system when an abnormality occurs.

  In the present embodiment, in the process of adjusting the control parameters of the position control device 28, the two drive systems are simultaneously driven to collect the positioning data of each drive system. It is possible to adjust the control parameter while taking into consideration the influence of the acting frictional force. As a result, the operation of adjusting the control parameter can be simplified.

  The position control device 28 executes the process shown in FIGS. 2 and 3 by executing the control parameter adjustment program PG by the CPU 34. The processing module that executes S15 in the control parameter adjustment program PG is an example of a drive start unit. The processing module that executes S17 is an example of an abnormality determination unit. The processing module that repeatedly executes S11 to S27 is an example of an adjustment unit. Further, the drive starting means or the like may be configured by hardware instead of software.

  Incidentally, in the above embodiment, the movable part (suction nozzle 12, mounting head 13, various rotating shafts, gears, etc.), R-axis motor 16, and Q-axis motor 24 provided in the mounting head driving device 11 are examples of position control targets. is there. The R-axis drive system and the Q-axis drive system are examples of a plurality of drive systems. S15 is an example of a drive start process. S17 is an example of an abnormality determination step. S11 to S27 are an example of an adjustment process. S33 is an example of a minor abnormality determination process. S35 is an example of an oscillation determination process. S41 is an example of a continuous detection frequency determination step.

In addition, this indication is not limited to the said embodiment, It is possible to implement in the various aspect which gave various change and improvement based on the knowledge of those skilled in the art.
For example, if an abnormality occurs during the evaluation operation, the CPU 34 may only stop driving of each drive system.
Further, the CPU 34 may store the resumption data uniformly and end the adjustment without determining whether the abnormality is minor or serious.
Further, the CPU 34 may end the evaluation operation without saving the restart data.
Further, the CPU 34 may resume the evaluation operation uniformly when a minor abnormality occurs.

Moreover, in the said embodiment, although the mounting head drive device 11 was employ | adopted as a drive system of this application, it is not restricted to this. The drive system of the present application can employ various drive systems in which a plurality of drive systems capable of driving a plurality of position control objects independently from each other exert a frictional force upon driving. For example, the drive system may be configured such that three or more position control objects can be driven independently of each other and have a relationship in which frictional forces are exerted on each other during driving.
Further, the control parameter adjustment system of the present application may be configured to include only the position control device 28.

  DESCRIPTION OF SYMBOLS 10 Adjustment system, 11 Mounting head drive device, 12 Adsorption nozzle, 13 Mounting head, 14 R axis, 15 R axis gear, 16 R axis motor, 16A Rotating shaft, 17 Gear, 20, 21 Q axis gear, 22 Rotating shaft, 23 gear, 24 Q-axis motor, 24A rotating shaft, 25 gear, 28 position control device, 29, 30 rotation angle sensor.

Claims (7)

A control parameter that adjusts a control parameter of a position control device that controls a plurality of drive systems that are capable of driving a plurality of position control objects independently of each other and that exert a frictional force on each other during driving. An adjustment method,
A driving start step of starting driving of the plurality of driving systems by the position control device using the control parameters;
An abnormality determination step of determining whether an abnormality has occurred after starting the driving of the plurality of drive systems;
Collecting positioning data for each of the plurality of drive systems, and using a genetic algorithm to evaluate the feature values of the positioning data for each of the plurality of drive systems so that the evaluation value satisfies the required performance An adjusting step of adjusting the control parameter;
Including
A control parameter adjustment method for stopping the plurality of drive systems in response to determining that the abnormality has occurred as a result of the determination in the abnormality determination step. As a result of the determination of the abnormality determination step, a minor abnormality determination step for determining whether or not the abnormality that has occurred is a minor abnormality in response to determining that the abnormality has occurred,
The plurality of stopped drive systems are driven again in response to determining that the abnormality that has occurred is the minor abnormality as a result of the determination in the minor abnormality determination step, and the adjustment step is resumed. 2. The control parameter adjustment method according to 1.   The data under adjustment acquired in the adjustment step is stored as resumption data in response to determining that the generated abnormality is not the minor abnormality as a result of the determination in the minor abnormality determination step. The control parameter adjustment method described. Whether or not the minor abnormality that has occurred is an oscillation that has occurred in the plurality of drive systems in response to determining that the abnormality that has occurred is the minor abnormality as a result of the determination in the minor abnormality determination step. An oscillation judging step for judging
As a result of the determination in the oscillation determination step, in response to determining that the minor abnormality that has occurred is the oscillation, the number of continuous detections that is the number of times that the oscillation has continuously occurred is greater than the allowable number of continuous detections. A step of determining the number of consecutive detections to determine whether there are many,
Including
In response to determining that the number of continuous detections is greater than the allowable number of continuous detections as a result of the determination in the continuous detection number determination step, the data being adjusted acquired in the adjustment step is stored as restart data. The method for adjusting a control parameter according to claim 2 or claim 3.   The oscillation is detected based on an increase in the number of times that an absolute value of a high-frequency torque vibration waveform included in a torque command for controlling the plurality of drive systems by the position control device exceeds a predetermined upper limit value. Item 5. The control parameter adjustment method according to Item 4.   6. The control parameter adjustment method according to claim 4, wherein the oscillation is detected based on an absolute value of a torque command for controlling the plurality of drive systems being controlled by the position control device exceeding a maximum torque limit value. . A control parameter that adjusts a control parameter of a position control device that controls a plurality of drive systems that are capable of driving a plurality of position control objects independently of each other and that exert a frictional force on each other during driving. An adjustment system,
Drive starting means for starting driving of the plurality of drive systems by the position control device using the control parameters;
An abnormality determination means for determining whether an abnormality has occurred after starting the driving of the plurality of drive systems;
Collecting positioning data for each of the plurality of drive systems, and using a genetic algorithm to evaluate the feature values of the positioning data for each of the plurality of drive systems so that the evaluation value satisfies the required performance Adjusting means for adjusting the control parameter;
With
A control parameter adjustment system that stops the plurality of drive systems in response to determining that the abnormality has occurred as a result of the determination by the abnormality determination means.

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