Title:
CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/145403
Kind Code:
A1
Abstract:
A control device which, in a prescribed work coordinate system, causes an output from a subject device, which is a device to be subjected to servo control, to follow a prescribed command. The control device is equipped with: a subject model control unit which has a subject model obtained by modeling a subject device on the basis of a prescribed work coordinate system, and which uses the subject model to simulate and output an output in accordance with the prescribed work coordinate system; a model prediction control unit that has a prediction model in which a correlation, which is between a control input to the subject model control unit and a prescribed state variable based on the prescribed work coordinate system, pertaining to the subject model possessed by the subject model control unit, is defined by a prescribed state equation format based on the prescribed work coordinate system; and a calculation unit that, in accordance with a geometrical relationship of the device configuration of the subject device, calculates a target command based on a generalized coordinate system for each control axis, from the output of the subject model control unit. The target command is provided to the subject device. As a result of this configuration it is possible to provide a target command for causing an output from a subject device to suitably follow a prescribed command by means of model prediction control.
Inventors:
EGI MAMORU (JP)
Application Number:
PCT/JP2020/000749
Publication Date:
July 16, 2020
Filing Date:
January 10, 2020
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05B13/04
Foreign References:
| JP2018151899A | 2018-09-27 | |||
| JP2017102617A | 2017-06-08 | |||
| JP2019109598A | 2019-07-04 | |||
| JP2019136817A | 2019-08-22 |
Attorney, Agent or Firm:
IP FIRM SHUWA (JP)
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