Processing device, parameter adjusting method, and storage medium

A parameter adjusting method for adjusting control parameters of a drive controller, in which the drive controller includes:

• a predetermined control structure that includes a feedback system having one or a plurality of controllers to which a feedback signal relevant to a motion of a control object is input, and a control model part having control models realized by modeling the feedback system and the control object, and that is configured to enable model follow-up control according to the control models which the control model part has;
• and
• a calculating part that performs a calculating process of a predetermined signal for drive control of the control object in the predetermined control structure, and
• the drive controller is configured to perform the drive control on a plurality of the control objects and to have a plurality of the predetermined control structures corresponding to the control objects respectively,
• the parameter adjusting method comprising:
• performing a determining process of determining a common control gain to set a predetermined control gain in the control model part of each of the plurality of predetermined control structures corresponding to the plurality of control objects to the common control gain for all the control model parts when synchronous control of the plurality of the control objects is performed;
• and
• instructing the drive controller to set the predetermined control gain in the control model part corresponding to each of the plurality of the predetermined control structures to the common control gain.

A non-statutory storage medium storing a parameter adjusting program that enables a processing device to execute processes and the processing device being electrically connected to a drive controller, in which

• the drive controller includes:
• a predetermined control structure that includes a feedback system having one or a plurality of controllers to which a feedback signal relevant to a motion of a control object is input, and a control model part having control models realized by modeling the feedback system and the control object, and that is configured to enable model follow-up control according to the control models which the control model part has;
• and
• a calculating part that performs a calculating process of a predetermined signal for drive control of the control object in the predetermined control structure, and
• the drive controller performs the drive control on a plurality of the control objects and to have a plurality of the predetermined control structures corresponding to the control objects respectively,
• the processes including:
• a process of performing a determining process of determining a common control gain to set a predetermined control gain in the control model part of each of the plurality of predetermined control structures corresponding to the plurality of control objects to the common control gain for all the control model parts when synchronous control of the plurality of the control objects is performed;
• and
• a process of instructing the drive controller to set the predetermined control gain in the control model part corresponding to each of the plurality of the predetermined control structures to the common control gain.