産業機械のサーボ制御システムのためのモデルベース開発手法

抄録

In automobiles, MBD (Model Based Development) method in which control design and machine design are closely linked from design upstream has been applied. However, since servo control devices used in industrial machines are general-purpose products of FA equipment makers, it is difficult to apply such MBD method to servo control development. The FA equipment maker carries out the combination verification of the control device and the machine from the beginning using actual equipment. Therefore, when a problem such as mechanical vibration occurs, it may take a lot of time to solve the problem. In this paper, we propose MBD method to improve efficiency of development and verification of servo control system of industrial machine using MILS (Model-In-the-Loop Simulation) verification and HILS (Hardware-In-the-Loop Simulation) verification. First, design and verification of the control method is performed by MILS verification using a machine model prepared from basic specifications. Next the entire operation of the servo control system is verified by the original HILS verification system which combines the actual controller, the control unit of the servo amplifiers, and the models (machine, electric circuits, and servo motors). We applied the proposed method to the 5-axis transfer robot and confirmed its effectiveness.