Machine learning device, control system, and machine learning
AssigneeFanuc Corporation
InventorsRyoutarou Tsuneki, Satoshi Ikai
Life of this patent
Estimating the term…
Abstract
Vibration of a machine end and an error of a moving trajectory are suppressed. A machine learning device performs machine learning of optimizing first coefficients of a filter provided in a motor controller that controls a motor and second coefficients of a velocity feedforward unit of a servo control unit provided in the motor controller on the basis of an evaluation function which is a function of measurement information after acceleration and deceleration by an external measuring instrument provided outside the motor controller, a position command input to the motor controller, and a position error which is a difference between the position command value and feedback position detection value from a detector of the servo control unit.
Claims10
A machine learning device that performs machine learning of optimizing first coefficients of a filter provided in a motor controller that controls a motor and second coefficients of a velocity feedforward unit of a servo control unit provided in the motor controller on the basis of an evaluation function which is a function of measurement information after acceleration and deceleration by an external measuring instrument provided outside the motor controller, a position command input to the motor controller, and a position error which is a difference between the position command value and feedback position detection value from a detector of the servo control unit.
A machine learning method of a machine learning device, comprising:
- acquiring first coefficients of a filter provided in a motor controller that controls a motor, second coefficients of a velocity feedforward unit, measurement information after acceleration and deceleration by an external measuring instrument provided outside the motor controller, a position command input to the motor controller, and a position error which is a difference between the position command value and feedback position detection value;
- and performing machine learning of optimizing the first coefficients and the second coefficients on the basis of an evaluation function which is a function of the measurement information, the position command, and the position error.
Dependencies are inferred from the claim text.