Omron Corporation

Yukio Iname

Masaki Namie

Masahiro Murai

Koji Yaoita

Akiro Kobayashi

Yoshimasa Usui

Yoshihide Nishiyama

Shigeyuki Eguchi

Takamasa Ueda

Yoshitaka Takeuchi

Osamu Hamasaki

Tetsushi Jakunen

Mikiko Manabe

Atsushi Ogawa

Teja Emmey

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

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 parameter is adjusted without the need to operate a driver of a control target. A control device () includes a model identification unit (), a parameter determination unit (), a data evaluation unit () and an operation data calculation unit (). The model identification unit () identifies a physical model of an operation of the control target. The operation data calculation unit () calculates operation data by using the physical model and the control parameter. The data evaluation unit () calculates an evaluation value by using normative data of the operation of the control target and the operation data. The parameter determination unit () determines the control parameter by using the evaluation value.

Control device, control method, and control program

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

A control parameter which causes a servo motor to perform an operation with higher accuracy depending on a purpose and a situation is determined. A control device () includes a data evaluation unit (), a parameter determination unit (), and an operation data acquisition unit (). The operation data acquisition unit () acquires operation data including a speed or a torque of a servo motor (). The data evaluation unit () calculates an evaluation value by using normative data corresponding to a target of the operation data and the operation data. The parameter determination unit () determines a control parameter applied to a servo driver () which controls operations of the servo motor () by using the evaluation value.

A control system easily adjusts devices. In a control system, an input unit included in a PLC system obtains actual sampling data. An output unit outputs an output signal based on output instruction data including a designated output timing and a designated output signal value. A task execution unit included in a controller repeatedly executes a task in a predetermined period. A sampling unit obtains variable sampling data. A same time-series data generation unit included in a development support apparatus generates same time-series data. A same time-series data display unit displays the same time-series data on the same time axis.

Control systems for setting sampling timing

A control device capable of appropriately switching operating modes when multitasking is being performed is provided. A CPU unit is provided with a task executing unit for executing a plurality of tasks in parallel, and for executing each task in cycles based on each task; and a mode switching unit for switching operating modes. The task executing unit is configured in such a manner that when in operation mode, a user program is executed for each task, and when in program mode, a user program is not executed for each task. The mode switching unit is configured in such a manner that the operating mode is switched when a plurality of tasks being executed by the task executing unit are synchronized

Control device and system program, and recording medium

A system includes a first execution control instruction to start execution of a first control program every first execution cycle of the same period as a control cycle period and a second execution control instruction to start execution of a second control program every second execution cycle whose period is an integral multiple of at least twice the control cycle period. The second execution control instruction includes an instruction to start, in a control cycle in which a second execution cycle starts, execution of the second control program after the end of execution of the first control program, and if the second control program is not completed before the end of the control cycle, to start execution of an unexecuted part of the second control program after the end of execution of the first control program in the next control cycle.

Growing community of inventors

Kyoto, Japan

Yukio Iname