US 12,147,211 B2
Control device
Mamoru Egi, Kyoto (JP); Takumi Fujioka, Kyoto (JP); Sota Kaida, Kyoto (JP); and Hiroyuki Harada, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Appl. No. 17/908,108
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Dec. 16, 2020, PCT No. PCT/JP2020/046863
§ 371(c)(1), (2) Date Aug. 30, 2022,
PCT Pub. No. WO2021/181787, PCT Pub. Date Sep. 16, 2021.
Claims priority of application No. 2020-042820 (JP), filed on Mar. 12, 2020.
Prior Publication US 2023/0084056 A1, Mar. 16, 2023
Int. Cl. G05B 19/05 (2006.01); G01R 23/02 (2006.01)
CPC G05B 19/05 (2013.01) [G01R 23/02 (2013.01); G05B 2219/1185 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A measurement device configured to measure a frequency response of a servo system, the measurement device comprising:
an oscillation executor configured to apply, to the servo system, predetermined oscillation in which an oscillation application time and an excitation frequency are associated with each other;
an identifier configured to identify, from a result of oscillation applied by the oscillation executor, a pair of a first oscillation application signal corresponding to a first range that is a frequency range including a resonance frequency of the servo system and not including an anti-resonance frequency of the servo system and a first response signal temporally corresponding to the first oscillation application signal, and further identify a pair of a second oscillation application signal corresponding to a second range that is a frequency range lower than the first range and includes the anti-resonance frequency and a second response signal temporally corresponding to the second oscillation application signal;
a calculator configured to calculate a first frequency response that is a frequency response corresponding to the first range based on the first oscillation application signal and the first response signal, and calculate a second frequency response that is a frequency response corresponding to the second range based on the second oscillation application signal and the second response signal; and
a synthesizer configured to synthesize frequency responses in frequency ranges corresponding to the first range and the second range based on the first frequency response and the second frequency response.