AMPLIFIER SELECTION APPARATUS AND COMPUTER-READABLE STORAGE MEDIUM

Abstract

The amplifier selection apparatus for selecting an amplifier for a motor of an industrial machine is configured to acquire a program for an industrial machine, analyze the acquired program, acquire a drive mechanism and machine specifications of a motor, select a motor of the industrial machine, select an amplifier that fits the motor of the industrial machine, calculate an hourly output of the motor when the motor is controlled according to a command of the program, determine a maximum value of the hourly output of the motor, and select a common power source for supplying electric power to the amplifier on the basis of the maximum value.

Claims

1. An amplifier selection device for selecting an amplifier of a motor in an industrial machine, the amplifier selection device comprising: a program acquisition unit configured to acquire a program of the industrial machine; a program analysis unit configured to analyze the program; a motor selection unit configured to select a motor of the industrial machine; an amplifier selection unit configured to select an amplifier suitable for the motor of the industrial machine; an output calculation unit configured to calculate an output of the motor for each time when the motor is controlled according to a command of the program; and a common power supply selection unit configured to determine a maximum value of the output of the motor for each time and to select a common power supply for supplying power to the amplifier on the basis of the maximum value.

2. The amplifier selection device according to claim 1, wherein the industrial machine has a plurality of motors, the common power supply selection unit calculates a total value of outputs of the plurality of motors for each time, determines a maximum value of the total value for each time, and selects a common power supply on the basis of the maximum value of the total value.

3. The amplifier selection device according to claim 1, further comprising: a load calculation unit configured to calculate a required torque or a required thrust according to the program, wherein the amplifier selection unit calculates a required current on the basis of the required torque or the required thrust and selects an amplifier on the basis of the required current.

4. The amplifier selection device according to claim 1, further comprising: a load calculation unit configured to calculate a root-mean-square torque or a root-mean-square thrust according to the program, wherein the amplifier selection unit calculates a root-mean-square current on the basis of the root-mean-square torque or the root-mean-square thrust and selects an amplifier on the basis of the root-mean-square current.

5. The amplifier selection device according to claim 1, wherein the program acquisition unit has at least one of a function of inputting the program and a function of changing the program.

6. A storage medium storing computer-readable commands causing one or more processors to: acquire a program of an industrial machine; analyze the program; select a motor of the industrial machine; select an amplifier suitable for the motor of the industrial machine; calculate an output of the motor for each time when the motor is controlled according to a command of the program; and determine a maximum value of the output of the motor for each time and select a common power supply for supplying power to the amplifier on the basis of the maximum value.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0010] FIG. 1 is a block diagram illustrating an amplifier selection device;

[0011] FIG. 2 illustrates a machine condition setting screen;

[0012] FIG. 3 illustrates an acceleration and deceleration control setting screen;

[0013] FIG. 4 is a table illustrating analysis results of a machining program;

[0014] FIG. 5 is a graph illustrating a change in the position of a tool based on the machining program;

[0015] FIG. 6 is a graph illustrating a change in the speed of the tool based on the machining program;

[0016] FIG. 7 illustrates an example of the machining program;

[0017] FIG. 8 is a diagram illustrating specification values of a motor and an amplifier;

[0018] FIG. 9 is a diagram illustrating a relationship between an amplifier group and amplifiers;

[0019] FIG. 10 is a diagram illustrating a relationship between an output for each time and the selection of a common power supply;

[0020] FIG. 11 is a diagram illustrating a common power supply selection method according to the related art;

[0021] FIG. 12 is a flowchart illustrating an operation of the amplifier selection device;

[0022] FIG. 13 is a diagram illustrating calculated current values of a motor and specification values of amplifiers; and

[0023] FIG. 14 is a diagram illustrating a hardware configuration of the amplifier selection device according to the present disclosure.

MODE(S) FOR CARRYING OUT THE INVENTION

[First Disclosure]

[0024] Hereinafter, an amplifier selection device 100 according to a first disclosure will be described.

[0025] The amplifier selection device 100 according to the first disclosure is, for example, implemented in an information processing apparatus such as a personal computer (PC). Dedicated software for selecting an amplifier of an industrial machine is installed in the amplifier selection device 100. A user operates the software to select a motor, an amplifier, and a common power supply.

[0026] In the first to third disclosures, an example in which a motor, an amplifier, and a common power supply of a machine tool are selected on the basis of a machining program will be described. However, motors, amplifiers, and common power supplies of industrial machines, such as press machines and injection molding machines, other than the machine tools may be selected. Instead of the machining program, an operation program is used to select the motors, amplifiers, and common power supplies of the industrial machines other than the machine tools.

[0027] FIG. 1 is a block diagram illustrating the amplifier selection device 100. The amplifier selection device 100 includes a condition acquisition unit 11, a program acquisition unit 12, a program analysis unit 13, a data storage unit 14, a load calculation unit 15, a motor selection unit 16, an amplifier selection unit 17, an output calculation unit 18, and a common power supply selection unit 19.

[0028] The condition acquisition unit 11 acquires conditions necessary for motor selection, such as a driving mechanism of a machine driven by a motor, mechanical specifications of the driving mechanism, and motor acceleration and deceleration control settings. Examples of the driving mechanism of the machine include a ball screw mechanism, an index mechanism, and a pulley mechanism. The mechanical specifications are physical property values including the weight of the driving mechanism.

[0029] FIG. 2 illustrates a machine specification setting screen when a ball screw is selected as the driving mechanism. For example, mechanical efficiency, the weight of a moving object, a counter balance, the diameter of the ball screw, ball screw lead, the length of the ball screw, and a reduction ratio can be set as the mechanical conditions. The content of the settings is not limited thereto and differs depending on the driving mechanism.

[0030] Motor acceleration and deceleration control information is setting information such as a time constant. On the setting screen illustrated in FIG. 3, for example, an acceleration and deceleration type, an acceleration and deceleration time constant at the time of rapid traverse, an acceleration and deceleration time constant at the time of cutting feed, a position loop gain, a rapid traverse rate, and a positioning distance can be set as the acceleration and deceleration control information.

[0031] The program acquisition unit 12 acquires a machining program of the machine tool. The machining program may be read from the outside or may be input by the user. The program acquisition unit 12 may also receive, for example, changes in the acquired machining program and additions to the acquired machining program.

[0032] The program analysis unit 13 analyzes the machining program and displays, for example, the position, speed, and load of each axis of the machine tool. As the analysis results of the machining program, a line number (line) of the machining program, a driving mechanism operation method (mode), time, a position, a speed, a cutting load, and a cutting time are displayed in a table illustrated in FIG. 4. A graph illustrated in FIG. 5 shows a change in the position of a tool of the machine tool based on the machining program, and a graph illustrated in FIG. 6 shows a change in the speed of the tool based on the machining program.

[0033] A machining program analysis method will be described with reference to a machining program illustrated in FIG. 7. A first line G90G94 of the machining program illustrated in FIG. 7 is coordinate system setting. Since this line has nothing to do with driving the motor, the analysis results are not reflected in the table or the graph.

[0034] A second line G04X0.5 of the machining program is a command to stop an X-axis motor for 0.5 seconds. The program analysis unit 13 analyzes this machining program and displays the analysis results of a mode stop time, time 0.5 seconds, and a position 0 in the first line of the table in FIG. 4.

[0035] A third line G00X100.F30000 of the machining program is a command to move the X-axis by 100 mm at a speed of 30000 mm/min. The program analysis unit 13 displays a mode rapid traverse, time ?, a position 100, and a speed 30000 in the second line of the table in FIG. 4. As described above, the program analysis unit 13 creates a table and a graph while analyzing the machining program.

[0036] The data storage unit 14 stores data necessary for selecting a motor, an amplifier, and a common power supply. Examples of the data stored in the data storage unit 14 include a rated output, rated torque, a rated rotation speed, the moment of inertia of a rotor, and a magnetic saturation coefficient. However, the data is not limited thereto.

[0037] The load calculation unit 15 calculates values related to the load of the motor on the basis of the driving mechanism of the machine, the specifications of the machine, the acceleration and deceleration information of the motor, and the analysis results of the machining program. In the present disclosure, the values related to the load of the motor are calculated on the basis of the machining program. Therefore, it is possible to obtain values close to actual control.

[0038] The values related to the load of the motor include, for example, moment of inertia, load torque, acceleration torque, deceleration torque, required torque, and root-mean-square torque (effective load torque).

[0039] (Expression 1) is an expression for calculating the required torque, and (Expression 2) is an expression for calculating the root-mean-square torque.

[00001] $\begin{matrix} [Equation 1] & ? \\ T = V_{n t} ? \frac{2 ?}{6 0} ? \frac{1}{t_{a}} ? (J_{M} + \frac{J_{L}}{?}) + T_{n .Math.} + T_{cf} & (Expression 1) \end{matrix}$ [0040] T: Torque required for operation [Nm] [0041] V.sub.m: Amount of change in rotation speed of motor [min.sup.?1] [0042] t.sub.a: Time constant of control [sec] (time of the speed change) [0043] J.sub.M: Moment of inertia of rotor [kgm.sup.2] [0044] J.sub.L. Moment of inertia of load [kgm.sup.2] [0045] ?: Mechanical efficiency [0046] T.sub.m: Constant load torque [Nm] [0047] T.sub.cf: Cutting load torque [Nm]

[00002] $\begin{matrix} [Equation 2] & ? \\ T_{r m s} = \sqrt{\frac{T_{1}^{2} t_{1} + T_{2}^{2} t_{2} + T_{3}^{2} t_{3} + .Math. + T_{n}^{2} t_{n}}{t}} & (Expression 2) \end{matrix}$ $t = t_{1} + t_{2} + t_{3} + .Math. + t_{n}$ [0048] T.sub.rms: Root-mean-square torque [Nm] [0049] T.sub.1 to T.sub.n: Required torque in each stage (for example, rapid traverse, cutting, and stop) during one cycle [Nm] [0050] t.sub.1 to t.sub.n: Operation time in each stage during one cycle [s] [0051] t: Total time of one cycle [s]

[0052] The motor selection unit 16 temporarily selects a motor that has a sufficient margin for the calculated required torque, that can be started and stopped at a desired pulse speed with respect to the moment of inertia applied to an output shaft of the motor, and that can ensure a desired acceleration time constant and a desired deceleration time constant with respect to the moment of inertia applied to the output shaft of the motor.

[0053] The motor selection unit 16 checks, for example, the effective torque value, acceleration and deceleration time constants, overload characteristics, and motor heating tolerance of the temporarily selected motor and selects a motor that satisfies the purpose of use of the machine tool.

[0054] The amplifier selection unit 17 acquires specification values of the maximum current and the continuous current of the motor from the data storage unit 14 and selects an amplifier that has a maximum current and a continuous current that exceeds the maximum current and the continuous current of the motor. In addition, the maximum current is the maximum current value that can flow in a short time when the maximum torque is generated, and the continuous current is the maximum current value that can flow continuously without overheating the motor. The maximum current and the continuous current are predetermined in the specifications of the motor.

[0055] A method of selecting an amplifier will be described with reference to FIG. 8. It is assumed that the machine tool has a plurality of motors and that an X-axis motor has already been selected among the plurality of motors. When the motor is selected, candidates for an amplifier are determined. In the example illustrated in FIG. 8, selection candidates amplifier 1 and amplifier 2 are determined.

[0056] For the selected X-axis motor, the specification value of the maximum current is 48 Ap, and the specification value of the continuous current is 12 Ap. The maximum current of amplifier 1 is 40 Ap, and the continuous current of amplifier 1 is 11.5 Ap. The maximum current of amplifier 2 is 80 Ap, and the continuous current of amplifier 2 is 22.5 Ap. The amplifier selection unit selects an amplifier that has a maximum current and a continuous current that exceeds the maximum current and the continuous current of the X-axis motor. In the example illustrated in FIG. 8, amplifier 2 is selected.

[0057] Amplifiers are grouped for each common power supply. FIG. 9 is a list of amplifiers that belong to a common group. A group with an amplifier group name AmpGroup1 includes motors with axis names X, Y, Z, and spindle. The model name of the selected amplifier is displayed in the table illustrated in FIG. 9.

[0058] The output calculation unit 18 calculates the output of the motor from a rotation speed and torque. The output calculation unit 18 calculates an output from the output of the motor and the loss of the motor. The output is an output that needs to be supplied from the power supply during the operation of the motor. Since the calculation of the output of the motor and the loss of the motor is the existing technique, the description thereof is omitted.

[0059] (Expression 3) is an expression for calculating the rotation speed. The output calculation unit 18 uses the analysis results of the machining program to calculate a time-series rotation speed. It is possible to calculate the time-series output of all of the motors connected to the common power supply on the machining program with reference to the data storage unit 14, the load calculation unit 15, and the analysis results of the machining program.

[00003] $\begin{matrix} [Equation 3] & ? \\ V_{m} = \frac{V}{P ? Z} & (Expression 3) \end{matrix}$ [0060] V.sub.m: Rotation speed of motor [min.sup.?1] [0061] V: Work speed [m/min] [0062] P: Pitch of feed screw [m/rev] [0063] Z: Reduction ratio

[0064] The output is calculated in time series. FIG. 10 is a table in which the outputs are arranged in time series. In an example illustrated in FIG. 10, four outputs of the X-axis, Y-axis, Z-axis, and spindle motors are listed every minute. The output calculation unit 18 arranges the outputs of the four motors in time series when the machine tool is controlled according to the machining program.

[0065] The common power supply selection unit 19 calculates the total value of the output for each time calculated by the output calculation unit 18 and determines the maximum value of the total value. As can be seen from the example illustrated in FIG. 10, the total output of 1 min is 14 kW, the total output of 2 min is 25 kW, . . . , the total output of 30 min is 7 kW, and the maximum value of the total output is 25 kW of 2 min.

[0066] The common power supply selection unit 19 selects a common power supply with the minimum output among the common power supplies having a capacity exceeding the maximum value of the output on the basis of the calculated maximum value of the output and the specifications of the common power supplies.

[0067] A lower table in FIG. 10 shows the specification values of the common power supplies. The maximum outputs of two common power supplies of common power supply 1 and common power supply 2 are 27 kW and 40 kW, respectively. The maximum output 27 kW of common power supply 1 exceeds the maximum value 25 kW of the total output. The common power supply selection unit 19 selects common power supply 1 as the common power supply for the X-axis, Y-axis, Z-axis, and spindle motors.

[0068] For comparison, a common power supply selection method according to the related art will be described with reference to FIG. 11. In the selection of the common power supply according to the related art, the total value of the specification values of the maximum outputs is calculated, and a common power supply with an output exceeding the total value is selected. In an example illustrated in FIG. 11, the maximum output of the X-axis motor is 8 kW, the maximum output of the Y-axis motor is 8 kW, the maximum output of the Z-axis motor is 8 kW, and the maximum output of the spindle motor is 6 kW. The total of the specification values of the maximum outputs of the four motors is 30 kW. In the selection of the common power supply according to the related art, common power supply 2 that has a maximum output that exceeds the total 30 kW of the specification values is selected.

[0069] In the selection method according to the related art, since the common power supply is selected on the basis of the maximum output of each motor, a common power supply with excessive capacity may be selected. According to the present disclosure, it is possible to prevent the selection of a common power supply with excessive capacity.

[0070] FIG. 12 is a flowchart illustrating an operation of the amplifier selection device 100 according to the present disclosure.

[0071] The amplifier selection device 100 acquires a driving mechanism and machine specifications as information for selecting a motor (step S1), acquires acceleration and deceleration control information (step S2), and acquires a machining program (step S3).

[0072] The amplifier selection device 100 analyzes the machining program and arranges the analysis results in time series (step S4).

[0073] The amplifier selection device 100 calculates the values related to the load of the motor on the basis of the driving mechanism of the industrial machine, the machine specifications, the acceleration and deceleration information of the motor, and the analysis results of the machining program. The values related to the load of the motor include, for example, moment of inertia, load torque, acceleration torque or deceleration torque, required torque, and root-mean-square torque (step S5).

[0074] The amplifier selection device 100 selects a motor on the basis of the values related to the load of the motor (step S6). Since a method for selecting the motor is the existing technology, the description thereof is omitted.

[0075] The amplifier selection device 100 acquires the specification values of the maximum current and the continuous current on the basis of the selected motor (step S7). The amplifier selection device 100 selects an amplifier on the basis of the acquired specification values of the maximum current and the continuous current of the motor (step S8).

[0076] The amplifier selection device 100 calculates the output of each of the motors, which are supplied with power from the common power supply, in time series according to the analysis results of the machining program (step S9). The amplifier selection device 100 calculates the total value of the outputs of the motors for each time (step S10).

[0077] The amplifier selection device 100 determines the maximum value of the total value of the outputs of the motors (step S11). The amplifier selection device 100 selects a common power supply having the maximum output greater than the maximum value calculated in step S11 (step S12).

[Second Disclosure]

[0078] Next, an amplifier selection device 100 according to a second disclosure will be described.

[0079] The amplifier selection device 100 according to the second disclosure has the same configuration as the amplifier selection device 100 according to the first disclosure. The amplifier selection device 100 according to the second disclosure differs from the amplifier selection device 100 according to the first disclosure in an amplifier selection method in the amplifier selection unit 17.

[0080] The amplifier selection unit 17 according to the second disclosure calculates the maximum current and a root-mean-square current and selects an amplifier using the calculated required current and root-mean-square current. The maximum current is the maximum current required. The maximum current is calculated from the required torque. (Expression 4) is an expression for calculating the required current and the root-mean-square current. In a synchronous motor, up to a certain amount of current, torque and current are in a proportional relationship with a torque constant as a coefficient. However, in a case in which the amount of current is further increased, a phenomenon called magnetic saturation occurs, and the torque generated per current is reduced due to the magnetic saturation. Therefore, the required current is calculated in consideration of the magnetic saturation. A magnetic saturation coefficient differs depending on a torque range even for the same motor. The magnetic saturation coefficient is stored in the data storage unit 14 in advance. An amplifier is selected using the calculated required current and root-mean-square current, which makes it possible to make efficient settings matched with the actual torque.

[00004] $\begin{matrix} [Equation 4] & ? \\ I = \frac{T}{K_{t} ? (1 - f)} & (Expression 4) \end{matrix}$ [0081] I: Required current [Arm] [0082] T: Required torque [Nm] [0083] K.sub.t: Torque constant [Nm/Arms] [0084] f: Magnetic saturation coefficient

[0085] FIG. 13 illustrates an example of the maximum current and the root-mean-square current calculated according to the machining program. The amplifier selection unit 17 calculates the required current from the required torque and calculates the root-mean-square current from the root-mean-square torque. The calculated maximum current of the X-axis motor is 40 Ap, and the root-mean-square current of the X-axis motor is 9 Ap. The amplifier selection unit 17 selects amplifier 1 that has a maximum output that exceeds the calculated maximum current of 40 Ap and the calculated root-mean-square current of 9 Ap.

[0086] In the selection of the amplifier according to the first disclosure, the maximum current and the continuous current determined by the specifications of the X-axis motor are used. In many cases, the maximum current and the continuous current determined by the specifications are configured to have margins, which may lead to the selection of an amplifier with excessive capacity.

[0087] The amplifier selection device 100 according to the second disclosure selects an amplifier not on the basis of the maximum current and the continuous current of the specification values, but on the basis of the maximum current and the root-mean-square current calculated according to the machining program. Therefore, it is possible to prevent the selection of an amplifier with excessive capacity.

[Third Disclosure]

[0088] Next, an amplifier selection device 100 according to a third disclosure will be described.

[0089] The amplifier selection device 100 according to the third disclosure selects a linear motor. Since the configuration of the amplifier selection device 100 according to the third disclosure is the same as that of the amplifier selection device 100 according to the first disclosure, the description thereof will be omitted.

[0090] In the amplifier selection device 100 according to the third disclosure, the calculation expressions of the load calculation unit 15 and the output calculation unit 18 are different. For the linear motor, a required thrust is calculated instead of the required torque, and a root-mean-square thrust is calculated instead of the root-mean-square torque. The required current is calculated from the required thrust, and the root-mean-square current is calculated from the root-mean-square thrust. (Expression 5) is an expression for calculating the required thrust, (Expression 6) is an expression for calculating the root-mean-square thrust, and (Expression 7) is an expression for calculating the required current and the root-mean-square current.

[00005] $\begin{matrix} [Equation 5] & ? \\ F = M ? V ? \frac{1}{t_{a}} + F_{m} + F_{c d} & (Expression 5) \end{matrix}$ [0091] F: Thrust required for operation [N] [0092] M: Weight of moving object [kg] [0093] V: Amount of change in speed of motor [n/s] [0094] t.sub.a: Time constant of control [sec] [0095] F.sub.m: Constant load force [N] [0096] F.sub.cf: Cutting load force [N]

[00006] $\begin{matrix} [Equation 6] & ? \\ F_{r m s} = \sqrt{\frac{F_{1}^{2} t_{1} + F_{2}^{2} t_{2} + F_{3}^{2} t_{3} + .Math. + F_{n}^{2} t_{n}}{t}} & (Expression 6) \end{matrix}$ $t = t_{1} + t_{2} + t_{3} + .Math. + t_{n}$ [0097] F.sub.rms: Root-mean-square thrust [N] [0098] F.sub.1 to F.sub.n: Required thrust in each stage (for example, rapid traverse, cutting, and stop) during one cycle [N] [0099] t.sub.1 to t.sub.n: Operation time in each stage during one cycle [s] [0100] t: Total time of one cycle [s]

[00007] $\begin{matrix} [Equation 7] & ? \\ 1 = \frac{F}{K_{t} ? (1 - f)} & (Expression 7) \end{matrix}$ [0101] I: Required current [Arm] [0102] K.sub.t: Thrust constant [N/Arms] [0103] f: Magnetic saturation coefficient

[0104] The output calculation unit 18 calculates the output of the linear motor from a speed and a thrust. An output is calculated from the output of the linear motor and the loss of the linear motor. The output is an output that needs to be supplied from the power supply during the operation of the linear motor. Since the calculation of the output of the linear motor and the loss of the linear motor is the existing technique, the description thereof is omitted. The output calculation unit 18 acquires a speed using the analysis results of the machining program. The speed is output using the data storage unit 14, the load calculation unit 15, and the analysis results of the machining program. It is possible to calculate the output necessary for the actual operation of all of the linear motors connected to the common power supply in time series, with reference to the data storage unit 14, the load calculation unit 15, and the analysis results of the machining program.

[0105] The common power supply selection unit 19 calculates the total value of the outputs for each time calculated by the output calculation unit 18 and determines the maximum value of the total value. The common power supply selection unit 19 selects a common power supply having a capacity exceeding the calculated maximum value of the output.

[0106] As described above, the amplifier selection device 100 according to the present disclosure can also be applied to select a linear motor.

[Hardware Configuration]

[0107] The amplifier selection device 100 according to the first to third disclosures has a hardware configuration illustrated in FIG. 14.

[0108] The hardware configuration of the amplifier selection device 100 will be described with reference to FIG. 14. A CPU 111 included in the amplifier selection device 100 is a processor that controls the overall operation of the amplifier selection device 100. The CPU 111 reads the system program processed in a ROM 112 through a bus and controls the entire amplifier selection device 100 according to the system program. A RAM 113 temporarily stores, for example, temporary calculation data or display data and various types of data input by the user through an input unit 71.

[0109] A display unit 70 is, for example, a monitor attached to the amplifier selection device 100. The display unit 70 displays, for example, an amplifier selection software operation screen.

[0110] The input unit 71 is, for example, a keyboard or a touch panel that is integrated with the display unit 70 or that is separated from the display unit 70. The user operates the input unit 71 to select an amplifier and a common power supply.

[0111] A non-volatile memory 114 is, for example, a memory that is backed up by a battery (not illustrated) such that a storage state is retained even when the amplifier selection device 100 is turned off. The non-volatile memory 114 stores programs read from an external apparatus through an interface (not illustrated), programs input through the input unit 71, and various types of data (for example, setting parameters acquired from the machine tool) acquired from each unit of the amplifier selection device 100, the machine tool, and the like. The programs and various types of data stored in the non-volatile memory 114 may be developed in the RAM 113 at the time of execution/use. In addition, various system programs are written in the ROM 112 in advance.

[0112] In the amplifier selection device 100 according to the present disclosure, it is possible to select a motor, using the values close to the actual control, on the basis of the machining program.

[0113] Further, in the amplifier selection device 100 according to the present disclosure, the output of each motor is calculated in time series on the basis of the machining program. The output of the motor changes over time. The outputs of a plurality of motors that change over time are added up, which makes it possible to acquire the total output that is close to the actual control and to make efficient settings matched with the actual torque.

EXPLANATIONS OF LETTERS OR NUMERALS

[0114] 100 AMPLIFIER SELECTION DEVICE [0115] 11 CONDITION ACQUISITION UNIT [0116] 12 PROGRAM ACQUISITION UNIT [0117] 13 PROGRAM ANALYSIS UNIT [0118] 14 DATA STORAGE UNIT [0119] 15 LOAD CALCULATION UNIT [0120] 16 MOTOR SELECTION UNIT [0121] 17 AMPLIFIER SELECTION UNIT [0122] 18 OUTPUT CALCULATION UNIT [0123] 19 COMMON POWER SUPPLY SELECTION UNIT [0124] 111 CPU [0125] 112 ROM [0126] 113 RAM [0127] 114 NON-VOLATILE MEMORY

AMPLIFIER SELECTION APPARATUS AND COMPUTER-READABLE STORAGE MEDIUM

Inventors

Cpc classification

Classification Explorer

G05B19/4141

PHYSICS

Classification Explorer

G05B19/0423

PHYSICS

Classification Explorer

G05B19/106

PHYSICS

International classification

Classification Explorer

G05B19/414

PHYSICS

Classification Explorer

G05B19/042

PHYSICS

Classification Explorer

G05B19/10

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Abstract

Claims

Description