Omron Corporation

Masaki Namie

Mikiko Manabe

Yukio Iname

Hiroshi Yoshida

Hiromi Sasaki

Takashi Fujii

Shintaro Iwamura

Yoshimasa Usui

Mamoru Egi

Shigenori Sawada

Yoshiya Shibata

Akiro Kobayashi

Haruna Shimakawa

Yasunori Sakaguchi

Toshihiro Moriya

Hirohito Mizumoto

Yutaka Tahara

Naoya Hashimoto

Takeshi Jinkawa

Masakazu Komatsu

SitiAisyah Azizan

Sitiaisyah Azizan

Multiple control parts include a first control part and a second control part other than the first control part, the first control part showing the slowest response speed of a control amount with respect to a target value. A control device includes: a prediction part for predicting a future control amount for a first control target by using a first model indicating dynamic characteristics of the first control target corresponding to the first control part for each control cycle; and a generation part for generating a future target value of a second control target corresponding to the second control part from the future control amount. The second control part determines an operation amount for the second control target based on the future target value.

Control device, control method, and non-transitory computer-readable recording medium recording control program

A control device includes a control component that performs model predictive control for each control period using a dynamics model representing a relationship between a manipulated variable and the position of a controlled object to generate a manipulated variable to be output to the servo driver. The dynamics model includes a first dynamics model representing a relationship between the manipulated variable and a position of a servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object. The second dynamics model is created using a waveform parameter extracted from a vibration waveform of the controlled object. The waveform parameter includes a vibration frequency.

Control device, model creation method, and control program

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.

Control device and control program

A control device includes: a first generator generating a first command position of a control object on a plane in each control cycle based on a target trajectory; a first control part generating a first operation amount by model predictive control using a first dynamic characteristic model and the first command position; a second generator generating a second command position of the control object on an orthogonal axis in each control cycle; and a second control part generating a second operation amount by model predictive control using a second dynamic characteristic model and the second command position. Based on shape data indicating a surface shape of an object and the first command position, the second generator generates the second command position so that a distance between the control object and a surface of the object is constant.

Control device and non-transitory computer readable recording medium

A measurement sensor is integrated with a control object so that a position separated from a processing object by the control object along a target trajectory is a measurement point. A control device includes: a first generator that generates a first command position of the control object on a plane; a first control part that generates a first operation amount using a model predictive control; a second generator that generates a second command position of the control object on an orthogonal axis that is orthogonal to the plane; and a second control part that generates a second operation amount using the model predictive control. The second generator generates the second command position so that the distance between the control object and the surface of an object is constant, based on the measurement result of the measurement sensor and the first command position.

Control system and non-transitory computer readable recording medium

A control device generates a second command value by compensating a first command value output at every control cycle according to a predetermined pattern with a correction amount output at every control cycle according to correction data, updates the correction data based on a deviation between the first command value and a feedback value from the control object, and determines an initial value of the correction data. The control device acquires a response characteristic indicating a relationship between an assigned command value and a feedback value shown in the control object in response to the command value, estimates a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic, and updates the temporary correction data based on a deviation between the first command value and the estimated feedback value.

Control device, recording medium, and control system

Compensation for an external disturbance can be applied without requiring a model of the external disturbance, and, particularly, the amount of control can be accurately predicted even when the amplitude of a waveform representing changes in a predicted error with respect to time is not constant with respect to time in a case in which the predicted error that is an error between an actually-measured value of the amount of control of a control target and a predicted value periodically changes. A controller compensates a predicted value of the current amount of control using a predicted error of a previous period by taking changes in the amplitude of a waveform representing a predicted error that is an error between an actually-measured value of the amount of control and a predicted value into account.

Model predictive control device, method of controlling model predictive control device, information processing program, and recording medium

A control device, a control program and a control system are provided. The control device includes: a first identification device for giving a first command as a command value to a drive device and determining a torque required for the controlled object to execute the first command; a second identification device for giving a second command as the command value and a third command as a compensation command to the drive device and determining a preceding switching time based on a response from the controlled object; a command value updating device for sequentially updating the command value based on a predetermined target trajectory; and a compensation command updating device for sequentially updating the compensation command based on the command value. The compensation command updating device updates the compensation command according to a moving direction after a reversal of the moving direction of the controlled object in the target trajectory.

Control device, control system, and recording medium

A control device () for controlling a control subject (), said control device being equipped with: an instruction value generation part () that calculates an instruction value from an instruction pattern; a learning control part () that repeatedly calculates correction data containing a correction value for correcting the instruction value calculated from the instruction pattern; and a control part () that calculates a corrected instruction value from the instruction value and the correction data, and transmits the corrected instruction value to the control subject. The learning control part () generates the correction data from a response delay characteristic of the control subject, and the deviation between a feedback value for the corrected instruction value that has been output for the control subject and the instruction value that has been calculated by the instruction value generation part ().

Control device for performing learning control

The present invention simplifies the processing for compensating an influence for a controlled quantity generated from shaping interference in motion control. A controller () as a model predictive control device computes an error between an actually measured value of a controlled quantity in a certain action cycle when shaping interfering is applied and a predictive value of the controlled quantity in the certain action cycle, i.e., the model predictive error, and corrects the predictive value in the action cycle after the certain action cycle by using the computed model predictive error.

Model predictive control device, control method of model predictive control device, information processing program and recording medium

A controller () corrects a predictive value in a certain predictive error variation cycle by using the predictive error in a predictive error variation cycle prior to the certain predictive error variation cycle, wherein the predictive error variation cycle is a cycle of a time change of an error, i.e., predictive error, between an actually measured value and a predictive value of the controlled quantity.

A control device includes an interface for exchanging data with a servo driver. The servo driver is configured to execute a control arithmetic operation in which a manipulation amount for driving the servo motor is determined on the basis of a control parameter determined in accordance with a control target. The control device includes a creation unit that acquires the control parameter of the servo driver and creates an internal model representing a motion characteristic of the control target, and a target value calculation unit that calculates a corrected target value to be supplied to the servo driver on the basis of a target value corresponding to a target track and a feedback value from the control target.

Control device, storage medium, and control system by creating internal model of control target

A control device, a method of controlling the control device and recording medium are provided. Ranges of movement of a plurality of servo control systems are effectively used. A controller generates a corrected trajectory in which a high frequency component is removed from a first inverse kinematics trajectory so that no phase delay occurs as a command trajectory of a first servo control system.

Servo control method having first and second trajectory generation units

Improvement of following performance about a target value is achieved in a control system, particularly a feedback control system. A command value correcting device corrects a current-control-cycle command value received with a feedback controller using a current-control-cycle controlled variable of a control target.

Correction device, correction device controlling method, information processing program, and recording medium

A characteristic change, disturbance, and an abnormal state are accurately detected with no use of a high-accuracy simulation model. A control device for controlling a control target includes a predictive value calculator that outputs a predictive value of an output value to an input value with respect to a model of the control target, a prediction error calculator that calculates a relational value indicating a relationship between the predictive value and a measured value of output of the control target; and a change detector that compares a first relational value to a second relational value, the first relational value being the relational value in a reference state in which the control target operates normally, the second relational value being the relational value in an operating state in which the control target is operated.

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Takatsuki, Japan

Masaki Namie