Omron Corporation

Mikiko Manabe

Masaki Namie

Mamoru Egi

Takashi Fujii

Yukio Iname

Masakazu Komatsu

SitiAisyah Azizan

Sitiaisyah Azizan

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

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

Mikiko Manabe