Omron Corporation

Yoshimasa Usui

Masaki Namie

Yukio Iname

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.

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Kyoto, Japan

Yoshimasa Usui