| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a model creation method for rotary equipment having a mechanism performing periodic movements, such as a speed reducer provided in an articulated robot, and failure diagnosis method for the equipment using the model.SOLUTION: The model creation method for equipment 4 having a mechanism performing periodic movements includes: in a model creation method for equipment representing characteristics of the equipment having the mechanism performing the periodic movements, constructing a model representing a phaseθof an input side and an output y of the equipment; and determining coefficients in the model so as to satisfy any one of the follow conditions that, under the condition that a modeling error is equal to or less than a prescribed value, a variation (a magnitude of an absolute value of dy/dθ) of an output value relative to a phase difference is minimized, under the condition that the variation (the magnitude of the absolute value of dy/dθ) of the output value relative to the phase difference is equal to or less than the prescribed value, the modeling error is minimized, and an evaluation function consisting of the modeling error and the variation of the output value relative to the phase difference is minimized.</p> |
