A method of monitoring an electrical machine, wherein the method includes: a) obtaining temperature measurement values of the temperature at a plurality of locations of the electrical machine, b) obtaining estimated temperatures at the plurality of locations given by a thermal model of the electrical machine, the thermal model including initial weight parameter values, c) minimizing a difference between the temperature measurement values and the estimated temperatures by finding optimal weight parameter values, d) storing the initial weight parameter values to thereby obtain a storage of used weight parameter values, and updating the optimal weight parameter values as new initial weight parameter values, and repeating steps a)-d) over and over during operation of the electrical machine.

A control device is connected to a servo mechanism that drives a controlled object and outputs a manipulated variable to the servo mechanism so that a controlled variable tracks a target trajectory. The control device includes a controller and a sensor. The controller acquires a measured value from the sensor and performs model predictive control for each control period using a dynamics model representing a relationship between the manipulated variable and the position of the controlled object to generate the manipulated variable to be output to the servo mechanism. The sensor measures the position of the controlled object. The controller performs model predictive control in a first mode using the measured value when the controlled object has a position within the range, and performs model predictive control in a second mode using an output value of the dynamics model when the controlled object has a position outside the range.

A control device is connected to a servo mechanism that drives a controlled object and outputs a manipulated variable to the servo mechanism so that a controlled variable tracks a target trajectory. The control device includes a controller and a sensor. The controller acquires a measured value from the sensor and performs model predictive control for each control period using a dynamics model representing a relationship between the manipulated variable and the position of the controlled object to generate the manipulated variable to be output to the servo mechanism. The sensor measures the position of the controlled object. The controller performs model predictive control in a first mode using the measured value when the controlled object has a position within the range, and performs model predictive control in a second mode using an output value of the dynamics model when the controlled object has a position outside the range.

A numerical control device includes a drive-shaft movement-amount estimation unit to estimate a first movement amount of a first object that is a target to be moved by a first drive shaft by using a first drive signal, an undriven-object movement-amount estimation unit to estimate a second movement amount of a second object in a three dimensional space, which is generated due to a drive force of the first drive shaft, by using the first drive signal, a correction-amount calculation unit to calculate a correction amount for the first drive signal on the basis of the first movement amount and the second movement amount, and a first correction-signal output unit to output a first corrected drive signal obtained by correcting the first drive signal by the correction amount to a drive unit to drive the first drive shaft.

A numerical control device includes: a tool-side displacement measurement unit; a workpiece-side displacement measurement unit; a drive signal measurement unit; a relative displacement calculation unit between the tool and the workpiece; a relative displacement prediction unit calculating a relative displacement predicted value from the drive signal, from a prediction model representing a relationship between the drive signal and the relative displacement; a model parameter operation unit generating prediction model parameters constituting the prediction model, from the drive signal, the relative displacement, and the predicted value; and a command value correction unit outputting a post-correction position command obtained by correcting a position command to the drive unit using the prediction model parameters. The model parameter operation unit changes the prediction model parameters to reduce a difference between the relative displacement and the predicted value.

A numerical control device includes: a tool-side displacement measurement unit; a workpiece-side displacement measurement unit; a drive signal measurement unit; a relative displacement calculation unit between the tool and the workpiece; a relative displacement prediction unit calculating a relative displacement predicted value from the drive signal, from a prediction model representing a relationship between the drive signal and the relative displacement; a model parameter operation unit generating prediction model parameters constituting the prediction model, from the drive signal, the relative displacement, and the predicted value; and a command value correction unit outputting a post-correction position command obtained by correcting a position command to the drive unit using the prediction model parameters. The model parameter operation unit changes the prediction model parameters to reduce a difference between the relative displacement and the predicted value.

A numerical control device includes a drive-shaft movement-amount estimation unit to estimate a first movement amount of a first object that is a target to be moved by a first drive shaft by using a first drive signal, an undriven-object movement-amount estimation unit to estimate a second movement amount of a second object in a three dimensional space, which is generated due to a drive force of the first drive shaft, by using the first drive signal, a correction-amount calculation unit to calculate a correction amount for the first drive signal on the basis of the first movement amount and the second movement amount, and a first correction-signal output unit to output a first corrected drive signal obtained by correcting the first drive signal by the correction amount to a drive unit to drive the first drive shaft.

A control parameter adjustment device includes a command-value generation unit that generates a position command; a servo control unit that calculates a drive command such that a response position of a driven object follows the position command; a correction model unit that generates a correction command for correcting a response error that is a difference between the position command and the response position by using a model expressed by two or more types of parameters; and a parameter search unit that corrects the model by using a combination of values of the parameters, by which the response error is minimized, among a plurality of combinations of values of the parameters. The control parameter adjustment device drives the driven object on the basis of the drive command and the correction command.

A control parameter adjustment device includes a command-value generation unit that generates a position command; a servo control unit that calculates a drive command such that a response position of a driven object follows the position command; a correction model unit that generates a correction command for correcting a response error that is a difference between the position command and the response position by using a model expressed by two or more types of parameters; and a parameter search unit that corrects the model by using a combination of values of the parameters, by which the response error is minimized, among a plurality of combinations of values of the parameters. The control parameter adjustment device drives the driven object on the basis of the drive command and the correction command.