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US 11,615,659 B2Granted
Motion system health management using multidimensional modeling using motor operational parameters
AssigneeArcus Technology, Inc.
InventorChristopher C. Chang
Life of this patent
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Abstract
A motion system and method of managing health of the motion system uses at least one multi-dimensional motor operational parameter (MOP) model and motion variables used by a servo drive of the motion system to calculate at least one health indication value for the motion system. The health indication value is used to generate a notification for maintenance of the motion system.
Claims18
A method of managing health of a motion system with a servo drive, the method comprising:
- driving a motor of the motion system using the servo drive to perform a sequence of motions to build a multi-dimensional motor operational parameter (MOP) model;
- as the motor is being driven, for each motion, collecting a current I that is used to drive the motor, a position P of the motor and a velocity V of the motor together at the same time to produce multiple sets of current I, position P and velocity V values;
- for each set of current I, position P and velocity V values, computing a corresponding MOP value using at least some of the current I, position P and velocity V values;
- building the multi-dimensional MOP model for the motion system using the position P, velocity V and corresponding MOP values, the multi-dimensional MOP model being a multi-dimensional model in space defined by at least the position P, velocity V and corresponding MOP values;
- after the multi-dimensional MOP model has been built, collecting motion variables that are used by the servo drive to drive the motor of the motion system in response to motion commands, the motion variables including an actual current I to drive the motor, an actual position P of the motor and an actual velocity V of the motor;
- calculating a health indication value for the motion system using the collected motion variables, including computing an actual MOP value using at least some of the actual current I, the actual position P of the motor and the actual velocity V of the motor, and taking a difference between the actual MOP value and a MOP value from the multi-dimensional MOP model to derive a MOP deviation value that is used to calculate the health indication value;
- and
- in response to the health indication value, generating a notification for maintenance of the motion system.
5 more elements
A motion system comprising:
- a motor, and
- a servo drive configured to drive the motor, the servo drive including,
- memory;
- and
- at least one processor configured to:
- drive a motor of the motion system using the servo drive to perform a sequence of motions to build a multi-dimensional motor operational parameter (MOP) model;
- as the motor is being driven, for each motion, collect a current I that is used to drive the motor, a position P of the motor and a velocity V of the motor together at the same time to produce multiple sets of current I, position P and velocity V values;
- for each set of current I, position P and velocity V values, compute a corresponding MOP value using at least some of the current I, position P and velocity V values;
- build the multi-dimensional MOP model for the motion system using the position P, velocity V and corresponding MOP values, the multi-dimensional MOP model being a multi-dimensional model in space defined by at least the position P, velocity V and corresponding MOP values;
- after the multi-dimensional MOP model has been built, collect motion variables that are used by the servo drive to drive the motor of the motion system in response to motion commands, the motion variables including an actual current I to drive the motor, an actual position P of the motor and an actual velocity V of the motor;
- calculate a health indication value for the motion system using the collected motion variables, including computing an actual MOP value using at least some of the actual current I, the actual position P of the motor and the actual velocity V of the motor, and taking a difference between the actual MOP value and a MOP value from the multi-dimensional MOP model to derive a MOP deviation value that is used to calculate the health indication value;
- and
- in response to the health indication value, generate a notification for maintenance of the motion system.
10 more elements
Dependencies are inferred from the claim text.