Title:
CONTROL DEVICE AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/162202
Kind Code:
A1
Abstract:
This control device performs movement control of moving a to-be-controlled subject, which is being halted, to a specified position by outputting a manipulated variable to a drive device for driving a motor connected to the to-be-controlled subject. The control device is provided with: a generation unit that generates the manipulated variable by using a target value generated from a target track so that the to-be-controlled subject is to follow the target track; and a correction unit for multiplying the manipulated variable by a correction factor during a correction period from start of the movement control until a predetermined correction time elapses. The correction factor monotonically increases during the correction period with the passing of time. The correction factor at the end point of correction period is 1. Accordingly, it is possible to provide such a control device that can suppress torque saturation while suppressing increase in a calculation load.
Inventors:
NAMIE MASAKI (JP)
INAME YUKIO (JP)
USUI YOSHIMASA (JP)
INAME YUKIO (JP)
USUI YOSHIMASA (JP)
Application Number:
PCT/JP2020/002263
Publication Date:
August 13, 2020
Filing Date:
January 23, 2020
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05B13/04; H02P4/00
Foreign References:
| JP2012217230A | 2012-11-08 | |||
| JP2011135632A | 2011-07-07 | |||
| JP2004192144A | 2004-07-08 |
Attorney, Agent or Firm:
FUKAMI PATENT OFFICE, P.C. (JP)
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