Evaluation device and method for rotary drive, corrective manipulated variable setting device and method, control device and method, and program

A corrective manipulated variable setting device that sets a corrective manipulated variable used to control periodic velocity fluctuation of a rotary drive in a control device of the rotary drive, comprising:

• an evaluation device including
• a rotational velocity fluctuation detector that detects rotational velocity fluctuation relative to a reference velocity of the rotary drive;
• a reference signal generator that generates a reference signal, in which the reference signal has a period and a phase angle, wherein the reference signal generator generates a plurality of reference signals that differ in phase angle from each other;
• a multiplier-accumulator that performs a multiply-accumulate operation between the rotational velocity fluctuation detected by the rotational velocity fluctuation detector and the reference signal generated by the reference signal generator, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected by the rotational velocity fluctuation detector, and performing the multiply-accumulate operation between each of the plurality of reference signals generated by the reference signal generator and the rotational velocity fluctuation, so as to detect the fluctuation intensity per phase angle corresponding to each of the reference signals;
• and
• a phase angle estimator that estimates a phase angle of the component having the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, based on results of the multiply-accumulate operation obtained per reference signal in the multiplier-accumulator;
• and
• a corrective manipulated variable setting unit that, based on a phase angle of a component having a specific period, in which the phase angle is estimated by the phase angle estimator inside of the evaluation device, sets a periodic corrective manipulated variable for canceling rotational velocity fluctuation having the phase angle.

A corrective manipulated variable setting device that sets a corrective manipulated variable used to control periodic velocity fluctuation of a rotary drive in a control device of the rotary drive, comprising:

• an evaluation device including
• a rotational velocity fluctuation detector that detects rotational velocity fluctuation relative to a reference velocity of the rotary drive;
• a reference signal generator that generates a reference signal, in which the reference signal has a period and a phase angle, wherein the reference signal generator generates a plurality of reference signals that differ in phase angle from each other;
• a multiplier-accumulator that performs a multiply-accumulate operation between the rotational velocity fluctuation detected by the rotational velocity fluctuation detector and the reference signal generated by the reference signal generator, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected by the rotational velocity fluctuation detector, and performing the multiply-accumulate operation between each of the plurality of reference signals generated by the reference signal generator and the rotational velocity fluctuation, so as to detect the fluctuation intensity per phase angle corresponding to each of the reference signals;
• and
• an amplitude estimator that estimates an amplitude of the component havine the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, based on the results of the multiply-accumulate operation obtained per reference signal in the multiplier-accumulator;
• and
• a corrective manipulated variable setting unit that, based on an amplitude of a component having a specific period, in which the amplitude is estimated by the amplitude estimator inside of the evaluation device, sets a periodic corrective manipulated variable for canceling rotational velocity fluctuation having the amplitude.

A corrective manipulated variable setting device that sets a corrective manipulated variable used to control periodic velocity fluctuation of a rotary drive in a control device of the rotary drive, comprising:

• a driving unit that corrects a manipulated variable of the rotary drive, using each of a plurality of periodic corrective manipulated variables in which at least one of phase angle and amplitude is different from each other, and sequentially drives the rotary drive using each of a plurality of corrected manipulated variables formed by the correction;
• a rotational velocity fluctuation detector that detects rotational velocity fluctuation relative to a reference velocity of the rotary drive every time the driving unit drives the rotary drive using the respective manipulated variables;
• a reference signal generator that generates a plurality of reference signals having a predetermined period in which the plurality of the reference signals are different in phase angle from each other;
• a multiplier-accumulator that performs multiply-accumulate operation between the rotational velocity fluctuation per each manipulated variable detected in the rotational velocity fluctuation detector and each of the reference signals generated by the reference signal generator, respectively, to calculate a product and then accumulate the product;
• an amplitude estimator that, based on results of operation by the multiplier-accumulator, respectively estimates an amplitude of a component having the predetermined period, in which the component is included in the rotational velocity fluctuation generated when the driving unit drives the rotary drive by each manipulated variable;
• and
• a corrective manipulated variable setting unit that sets a corrective manipulated variable, which is used to generate the manipulated variable of the rotary drive and corresponds to a smallest amplitude among the amplitudes estimated by the amplitude estimator, as a corrective manipulated variable suitable for controlling the periodic velocity fluctuation of the rotary drive.

A control device for a rotary drive, comprising:

• a corrective manipulated variable setting assembly that sets a corrective manipulated variable necessary for controlling periodic velocity fluctuation of a rotary drive, the corrective manipulated variable setting assembly including
• an evaluation device including
• a rotational velocity fluctuation detector that detects rotational velocity fluctuation relative to a reference velocity of the rotary drive;
• a reference signal generator that generates a reference signal, in which the reference signal has a period and a phase angle, wherein the reference signal generator generates a plurality of reference signals that differ in phase angle from each other;
• a multiplier-accumulator that performs a multiply-accumulate operation between the rotational velocity fluctuation detected by the rotational velocity fluctuation detector and the reference signal generated by the reference signal generator, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected by the rotational velocity fluctuation detector, and performing the multiply-accumulate operation between each of the plurality of reference signals generated by the reference signal generator and the rotational velocity fluctuation, so as to detect the fluctuation intensity per phase angle corresponding to each of the reference signals;
• and
• a phase angle estimator that estimates a phase angle of the component having the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, based on results of the multiply-accumulate operation obtained per reference signal in the multiplier-accumulator;
• and
• a corrective manipulated variable setting unit that, based on a phase angle of a component having a specific period, in which the phase angle is estimated by the phase angle estimator inside of the evaluation device, sets a periodic corrective manipulated variable for canceling rotational velocity fluctuation having the phase angle;
• and
• a manipulated variable corrector that corrects a manipulated variable necessary for driving the rotary drive at a target rotational velocity by the corrective manipulated variable set in the corrective manipulated variable setting assembly,
• the control device driving the rotary drive according to a corrected manipulated variable formed in the manipulated variable corrector.

A control device for a rotary drive, comprising:

• a corrective manipulated variable setting assembly that sets a corrective manipulated variable necessary for controlling periodic velocity fluctuation of a rotary drive, the corrective manipulated variable setting assembly including
• an evaluation device including
• a rotational velocity fluctuation detector that detects rotational velocity fluctuation relative to a reference velocity of the rotary drive;
• a reference signal generator that generates a reference signal, in which the reference signal has a period and a phase angle, wherein the reference signal generator generates a plurality of reference signals that differ in phase angle from each other;
• a multiplier-accumulator that performs a multiply-accumulate operation between the rotational velocity fluctuation detected by the rotational velocity fluctuation detector and the reference signal generated by the reference signal generator, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected by the rotational velocity fluctuation detector, and performing the multiply-accumulate operation between each of the plurality of reference signals generated by the reference signal generator and the rotational velocity fluctuation, so as to detect the fluctuation intensity per phase angle corresponding to each of the reference signals;
• and
• an amplitude estimator that estimates an amplitude of the component having the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, based on the results of the multiply-accumulate operation obtained per reference signal in the multiplier-accumulator;
• and
• a corrective manipulated variable setting unit that, based on an amplitude of a component having a specific period, in which the amplitude is estimated by the amplitude estimator inside of the evaluation device, sets a periodic corrective manipulated variable for canceling rotational velocity fluctuation having the amplitude;
• and
• a manipulated variable corrector that corrects a manipulated variable necessary for driving the rotary drive at a target rotational velocity by the corrective manipulated variable set in the corrective manipulated variable setting assembly,
• the control device driving the rotary drive according to a corrected manipulated variable formed in the manipulated variable corrector.

A control device for a rotary drive, comprising:

• a corrective manipulated variable setting assembly that sets a corrective manipulated variable necessary for controlling periodic velocity fluctuation of a rotary drive, the corrective manipulated variable setting assembly including
• a driving unit that corrects a manipulated variable of the rotary drive, using each of a plurality of periodic corrective manipulated variables in which at least one of phase angle and amplitude is different from each other, and sequentially drives the rotary drive using each of a plurality of corrected manipulated variables formed by the correction;
• a rotational velocity fluctuation detector that detects rotational velocity fluctuation relative to a reference velocity of the rotary drive every time the driving unit drives the rotary drive using the respective manipulated variables:
• a reference signal generator that generates a plurality of reference signals having a predetermined period in which the plurality of the reference signals are different in phase angle from each other;
• a multiplier-accumulator that performs multiply-accumulate operation between the rotational velocity fluctuation per each manipulated variable detected in the rotational velocity fluctuation detector and each of the reference signals generated by the reference signal generator, respectively;
• an amplitude estimator that, based on results of operation by the multiplier-accumulator, respectively estimates an amplitude of a component having the predetermined period, in which the component is included in the rotational velocity fluctuation generated when the driving unit drives the rotary drive by each manipulated variable;
• and
• a corrective manipulated variable setting unit that sets a corrective manipulated variable, which is used to generate the manipulated variable of the rotary drive and corresponds to a smallest amplitude among the amplitudes estimated by the amplitude estimator, as a corrective manipulated variable suitable for controlling the periodic velocity fluctuation of the rotary drive;
• and
• a manipulated variable corrector that corrects a manipulated variable necessary for driving the rotary drive at a target rotational velocity by the corrective manipulated variable set in the corrective manipulated variable setting assembly,
• the control device driving the rotary drive according to a corrected manipulated variable formed in the manipulated variable corrector.

An evaluation method for a rotary drive that evaluates periodic velocity fluctuation of the rotary drive, comprising:

• a rotational velocity fluctuation detection step in which rotational velocity fluctuation relative to a reference velocity of the rotary drive is detected;
• a reference signal generation step in which a reference signal having a period and a phase angle is generated;
• and
• a multiply-accumulate operation step in which a multiply-accumulate operation is performed between the rotational velocity fluctuation detected in the rotational velocity fluctuation step and the reference signal generated in the reference signal generation step to calculate a product and then accumulate the product, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected in the rotational velocity fluctuation detection step.

A corrective manipulated variable setting method that sets a corrective manipulated variable used to control periodic velocity fluctuation of a rotary drive in a control device of the rotary drive, the method comprising:

• a phase angle estimation step in which a phase angle of a component having a specific period, in which the component is included in the periodic velocity fluctuation of the rotary drive, is estimated according to an evaluation method for a rotary drive that evaluates the periodic velocity fluctuation of the rotary drive, the method including
• a rotational velocity fluctuation detection step in which rotational velocity fluctuation relative to a reference velocity of the rotary drive is detected;
• a reference signal generation step in which a reference signal having a period and a phase angle is generated;
• and
• a multiply-accumulate operation step in which a multiply-accumulate operation is performed between the rotational velocity fluctuation detected in the rotational velocity fluctuation step and the reference signal generated in the reference signal generation step, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected in the rotational velocity fluctuation detection step, wherein
• a plurality of reference signals that differ in phase angle from each other are generated in the reference signal generation step,
• the multiply-accumulate operation is performed between each of the reference signals generated in the reference signal generation step and the rotational velocity fluctuation to detect the fluctuation intensity per phase angle corresponding to each of the reference signals in the multiply-accumulate operation step;
• and
• a phase angle estimation step in which a phase angle of the component having the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, is estimated based on results of the multiply-accumulate operation obtained per reference signal in the multiply-accumulate operation step;
• and
• a periodic corrective manipulated variable setting step in which, based on the phase angle of the component having the specific period estimated in the phase angle estimation step, a periodic corrective manipulated variable is set for canceling the rotational velocity fluctuation having the phase angle.

A corrective manipulated variable setting method that sets a corrective manipulated variable used to control periodic velocity fluctuation of a rotary drive in a control device of the rotary drive, the method comprising:

• an amplitude estimation step in which an amplitude of a component having a specific period, in which the component is included in the periodic velocity fluctuation of the rotary drive, is estimated according to an evaluation method for a rotary drive that evaluates the periodic velocity fluctuation of the rotary drive, the method including
• a rotational velocity fluctuation detection step in which rotational velocity fluctuation relative to a reference velocity of the rotary drive is detected;
• a reference signal generation step in which a reference signal having a period and a phase angle is generated;
• and
• a multiply-accumulate operation step in which a multiply-accumulate operation is performed between the rotational velocity fluctuation detected in the rotational velocity fluctuation step and the reference signal generated in the reference signal generation step, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected in the rotational velocity fluctuation detection step, wherein
• a plurality of reference signals that differ in phase angle from each other are generated in the reference signal generation step,
• the multiply-accumulate operation is performed between each of the reference signals generated in the reference signal generation step and the rotational velocity fluctuation to detect the fluctuation intensity per phase angle corresponding to each of the reference signals in the multiply-accumulate operation step, and
• an amplitude estimation step in which an amplitude of the component having the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, is estimated based on results of the multiply-accumulate operation obtained per reference signal in the multiply-accumulate operation step;
• and
• a periodic corrective manipulated variable setting step in which, based on the amplitude of the component having the specific period estimated in the amplitude estimation step, a periodic corrective manipulated variable is set for canceling the rotational velocity fluctuation having the amplitude.

A corrective manipulated variable setting method that sets a corrective manipulated variable used to control periodic velocity fluctuation of a rotary drive in a control device of the rotary drive, the method comprising:

• a driving step in which a manipulated variable of the rotary drive is corrected using each of a plurality of periodic corrective manipulated variables in which at least one of phase angle and amplitude is different from each other, and the rotary drive is sequentially driven using each of a plurality of corrected manipulated variables formed by the correction;
• a rotational velocity fluctuation detection step in which the rotational velocity fluctuation relative to a reference velocity of the rotary drive is detected every time the rotary drive is driven by the respective manipulated variables in the driving step;
• a reference signal generation step in which a plurality of reference signals having a predetermined period are generated, wherein the plurality of the reference signals are different in phase angle from each other;
• a multiply-accumulate operation step in which a multiply-accumulate operation is performed between the rotational velocity fluctuation per each manipulated variable detected in the rotational velocity fluctuation detection step and each of the reference signals generated in the reference signal generation step to calculate a product and then accumulate the product;
• an amplitude estimation step in which, based on results of operation in the multiply-accumulate operation step, an amplitude of a component having the predetermined period is respectively estimated, wherein the component is included in the rotational velocity fluctuation generated when the rotary drive is driven by each manipulated variable in the driving step;
• and
• a corrective manipulated variable setting step in which a corrective manipulated variable, which is used to generate the manipulated variable of the rotary drive and corresponds to a smallest amplitude estimated in the amplitude estimation step, is set as a corrective manipulated variable suitable for controlling the periodic velocity fluctuation of the rotary drive.

A control method for a rotary drive comprising:

• a corrective manipulated variable setting step in which a corrective manipulated variable necessary for controlling periodic velocity fluctuation of the rotary drive is set;
• and
• a manipulated variable correction step in which a manipulated variable necessary for driving the rotary drive at a target rotational velocity is corrected using the corrective manipulated variable set in the corrective manipulated variable setting step,
• the rotary drive being driven according to the manipulated variable corrected in the manipulated van able correction step,
• wherein, in the corrective manipulated variable setting step, the corrective manipulated variable is set according to the manipulated variable setting method the method including
• a phase angle estimation step in which a phase angle of a component having a specific period, in which the component is included in the periodic velocity fluctuation of the rotary drive, is estimated according to an evaluation method for a rotary drive that evaluates the periodic velocity fluctuation of the rotary drive, the method including
• a rotational velocity fluctuation detection step in which rotational velocity fluctuation relative to a reference velocity of the rotary drive is detected;
• a reference signal generation step in which a reference signal having a period and a phase angle is generated;
• and
• a multiply-accumulate operation step in which a multiply-accumulate operation is performed between the rotational velocity fluctuation detected in the rotational velocity fluctuation step and the reference signal generated in the reference signal generation step, so as to detect a fluctuation intensity at the phase angle of a component haying the period, in which the component is included in the rotational velocity fluctuation detected in the rotational velocity fluctuation detection step, wherein
• a plurality of reference signals that differ in phase angle from each other are generated in the reference signal generation step,
• the multiply-accumulate operation is performed between each of the reference signals generated in the reference signal generation step and the rotational velocity fluctuation to detect the fluctuation intensity per phase angle corresponding to each of the reference signals in the multiply-accumulate operation step, and
• a phase angle estimation step in which a phase angle of the component having the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, is estimated based on results of the multiply-accumulate operation obtained per reference signal in the multiply-accumulate operation step;
• and
• a periodic corrective manipulated variable setting step in which, based on the phase angle of the component having the specific period estimated in the phase angle estimation step, a periodic corrective manipulated variable is set for canceling the rotational velocity fluctuation having the phase angle.

A control method for a rotary drive comprising:

• a corrective manipulated variable setting step in which a corrective manipulated variable necessary for controlling periodic velocity fluctuation of the rotary drive is set;
• and
• a manipulated variable correction step in which the manipulated variable necessary for driving the rotary drive at a target rotational velocity is corrected using the corrective manipulated variable set in the corrective manipulated variable setting step,
• the rotary drive being driven according to the manipulated variable corrected in the manipulated variable correction step,
• wherein, in the corrective manipulated variable setting step, the corrective manipulated variable is set according to the manipulated variable setting method including
• an amplitude estimation step in which an amplitude of a component having a specific period, in which the component is included in the periodic velocity fluctuation of the rotary drive, is estimated according to an evaluation method for a rotary drive that evaluates the periodic velocity fluctuation of the rotary drive, the method including
• a rotational velocity fluctuation detection step in which rotational velocity fluctuation relative to a reference velocity of the rotary drive is detected;
• a reference signal generation step in which a reference signal having a period and a phase angle is generated;
• and
• a multiply-accumulate operation step in which a multiply-accumulate operation is performed between the rotational velocity fluctuation detected in the rotational velocity fluctuation step and the reference signal generated in the reference signal generation step, so as to detect a fluctuation intensity at the phase angle of a component having the period, in which the component is included in the rotational velocity fluctuation detected in the rotational velocity fluctuation detection step, wherein
• a plurality of reference signals that differ in chase angle from each other are generated in the reference signal generation step,
• the multiply-accumulate operation is performed between each of the reference signals generated in the reference signal generation step and the rotational velocity fluctuation to detect the fluctuation intensity per phase angle corresponding to each of the reference signals in the multiply-accumulate operation step, and
• an amplitude estimation step in which an amplitude of the component having the period, in which the component is included in the rotational velocity fluctuation of the rotary drive, is estimated based on results of the multiply-accumulate operation obtained per reference signal in the multiply-accumulate operation step;
• and
• a periodic corrective manipulated variable setting step in which, based on the amplitude of the component having the specific period estimated in the amplitude estimation step, a periodic corrective manipulated variable is set for canceling the rotational velocity fluctuation having the amplitude.

A control method for a rotary drive comprising:

• a corrective manipulated variable setting step in which a corrective manipulated variable necessary for controlling periodic velocity fluctuation of the rotary drive is set;
• and
• a manipulated variable correction step in which the manipulated variable necessary for driving the rotary drive at a target rotational velocity is corrected using the corrective manipulated variable set in the corrective manipulated variable setting step,
• the rotary drive being driven according to the manipulated variable corrected in the manipulated variable correction step,
• wherein, in the corrective manipulated variable setting step, the corrective manipulated variable is set according to the manipulated variable setting method the method including
• a driving step in which a manipulated variable of the rotary drive is corrected using each of a plurality of periodic corrective manipulated variables in which at least one of phase angle and amplitude is different from each other, and the rotary drive is sequentially driven using each of a plurality of corrected manipulated variables formed by the correction;
• a rotational velocity fluctuation detection step in which the rotational velocity fluctuation relative to a reference velocity of the rotary drive is detected every time the rotary drive is driven by the respective manipulated variables in the driving step;
• a reference signal generation step in which a plurality of reference signals having a predetermined period are generated, wherein the plurality of the reference signals are different in phase angle from each other;
• a multiply-accumulate operation step in which a multiply-accumulate operation is performed between the rotational velocity fluctuation per each manipulated variable detected in the rotational velocity fluctuation detection step and each of the reference signals generated in the reference signal generation step;
• an amplitude estimation step in which, based on results of operation in the multiply-accumulate operation step, an amplitude of a component having the predetermined period is respectively estimated, wherein the component is included in the rotational velocity fluctuation generated when the rotary drive is driven by each manipulated variable in the driving step;
• and
• a corrective manipulated variable setting step in which a corrective manipulated variable, which is used to generate the manipulated variable of the rotary drive and corresponds to a smallest amplitude estimated in the amplitude estimation step, is set as a corrective manipulated variable suitable for controlling the periodic velocity fluctuation of the rotary drive.