Positioning control device and positioning method

A positioning method for moving a control target by a target movement distance by driving a motor, the positioning method comprising:

• generating a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on a basis of a position command parameter;
• driving the motor such that a detected position value of the motor or the control target follows the position command;
• calculating an evaluation value regarding positioning performance on a basis of a detected position value of the motor or the control target during execution of positioning control on the control target;
• and
• learning a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently, each of the shapes being determined on a basis of the position command parameter,
• learning a relational expression indicating a relation between the evaluation value and the position command parameter within a parameter range that specifies an upper limit value and a lower limit value of the position command parameter, and
• determining a newly-set position command parameter on a basis of a learning result.

A positioning control device that moves a control target by a target movement distance by driving a motor, the positioning control device comprising:

• a position-command generating circuitry to generate a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on a basis of a position command parameter;
• a drive controlling circuitry to drive the motor such that a detected position value of the motor or the control target follows the position command;
• an evaluating circuitry to calculate an evaluation value regarding positioning performance on a basis of a detected position value of the motor or the control target during execution of positioning control on the control target;
• and
• a learning circuitry to obtain a learning result by learning a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently on a basis of a pseudo random function and a position command parameter at which an evaluation value is maximized among position command parameters used for positioning control executed, each of the shapes being determined on a basis of the position command parameter.

A positioning control device that moves a control target by a target movement distance by driving a motor, the positioning control device comprising:

• a position-command generating circuitry to generate a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on a basis of a position command parameter, the position command having a section during which a jerk is a nonzero constant in each of an accelerating section and a decelerating section;
• a drive controlling circuitry to drive the motor such that a detected position value of the motor or the control target follows the position command;
• an evaluating circuitry to calculate an evaluation value regarding positioning performance on a basis of a detected position value of the motor or the control target during execution of positioning control on the control target;
• and
• a learning circuitry to learn a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently, each of the shapes being determined on a basis of the position command parameter, and to obtain a relation between the position command parameter and the evaluation value as a learning result.

A positioning method for moving a control target by a target movement distance by driving a motor, the positioning method comprising:

• generating a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on a basis of a position command parameter;
• driving the motor such that a detected position value of the motor or the control target follows the position command;
• calculating an evaluation value regarding positioning performance on a basis of a detected position value of the motor or the control target during execution of positioning control on the control target;
• learning a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently on a basis of a pseudo random function and a position command parameter at which an evaluation value is maximized among position command parameters used for positioning control executed, each of the shapes being determined on a basis of the position command parameter, and
• determining a newly-set position command parameter on a basis of a learning result.

A positioning method for moving a control target by a target movement distance by driving a motor, the positioning method comprising:

• generating a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on a basis of a position command parameter, the position command having a section during which a jerk is a nonzero constant in each of an accelerating section and a decelerating section;
• driving the motor such that a detected position value of the motor or the control target follows the position command;
• calculating an evaluation value regarding positioning performance on a basis of a detected position value of the motor or the control target during execution of positioning control on the control target,
• learning a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently, each of the shapes being determined on a basis of the position command parameter, and
• determining a newly-set position command parameter on a basis of a learning result.