# US 11,029,650 B2 · Machine learning device, control system, and machine learning method

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- Number: US 11,029,650 B2
- Document ID: US11029650B2
- Status: Granted
- Kind: B2
- Application number: 16/510,027
- Filed: 2019-07-12
- Published: 2020-03-05
- Granted: 2021-06-08
- Earliest claimed: 2018-08-30
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Ryoutarou Tsuneki; Satoshi Ikai; Takaki Shimoda
- Web page: https://patentgrep.com/patent/US11029650B2

## CPC

- G05B 13/0265: {the criterion being a learning criterion}
- G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B 2219/33034: Online learning, training
- G05B 2219/41232: Notch filter
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

Setting of parameters that determine filter characteristics is facilitated. Machine learning of optimizing the coefficients of a filter provided in a motor control device that controls rotation of a motor for a machine tool, a robot, or an industrial machine is performed on the basis of measurement information of an external measuring instrument provided outside the motor control device and a control command input to the motor control device.

## Claims

### Claim 1

A machine learning device that performs machine learning of optimizing coefficients of a filter provided outside a servo control unit and provided in a motor control device that controls the rotation of a motor on the basis of measurement information of an external measuring instrument provided outside the motor control device and a control command input to the motor control device, the machine learning device comprising:
a state information acquisition unit that acquires state information including the measurement information, the control command, and the coefficients of the filter;
an action information output unit that outputs action information including adjustment information of the coefficients included in the state information to the filter;
a reward output unit that outputs a reward value for reinforcement learning using a value function based on a difference between the measurement information and the control command; and
a value function updating unit that updates an action value function on the basis of the reward value output by the reward output unit, the state information, and the action information.

### Claim 2 (depends on 1)

The machine learning device according to claim 1, wherein
the measurement information of the external measuring instrument includes at least one of a position, a velocity, and an acceleration.

### Claim 3 (depends on 1)

The machine learning device according to claim 1, wherein
the motor control device includes at least one of a position feedback loop and a velocity feedback loop, and the filter is provided outside the position feedback loop or the velocity feedback loop.

### Claim 4 (depends on 1)

The machine learning device according to claim 1, wherein
the motor control device has a feedback loop, and the measurement information of the external measuring instrument is not used for feedback control of the feedback loop.

### Claim 5 (depends on 1)

The machine learning device according to claim 1, wherein
the external measuring instrument is detached after adjustment of the filter by machine learning.

### Claim 6 (depends on 1)

The machine learning device according to claim 1, further comprising:
an optimization action information output unit that outputs adjustment information of the coefficients on the basis of the value function updated by the value function updating unit.

### Claim 7 (depends on 1)

A control system comprising:
a motor control device that includes the machine learning device according to claim 1, a motor, and a filter and controls the rotation of the motor; and
an external measuring instrument provided outside the motor control device.

### Claim 8

A machine learning method of a machine learning device that performs machine learning of optimizing coefficients of a filter provided outside a servo control unit and provided in a motor control device that controls the rotation of a motor on the basis of measurement information of an external measuring instrument provided outside the motor control device and a control command input to the motor control device, the machine learning method comprising:
acquiring state information including the measurement information, the control command, and the coefficients of the filter;
outputting action information including adjustment information of the coefficients included in the state information to the filter;
outputting a reward value for reinforcement learning using a value function based on a difference between the measurement information and the control command; and
updating an action value function on the basis of the reward value, the state information, and the action information.