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Title:
PREDICTION CONTROL APPARATUS
Document Type and Number:
WIPO Patent Application WO/1993/020489
Kind Code:
A1
Abstract:
A prediction control apparatus for a robot and a machine tool in which a future target value has already been known and which enables a robot and a machine tool to follow up a target command at a high speed and with a high accuracy without requiring a learning step. This apparatus prediction determines a control input which is outputted at every predetermined sampling cycle to an object to be controlled so that an output from the object to be controlled agree with a target command in such a manner that a future deviation predictor determined on the basis of a model of the object to be controlled becomes minimal. The apparatus consists of: (a) means for inputting outputs of a future target command and an object to be controlled, (b) means for storing a future target command, a prediction control constant and a past control input, (c) means for determining a follow-up deviation on the basis of the difference between a target command and an output from the object to be controlled, and (d) means for computing a control input, which is outputted to the object to be controlled, on the basis of a future target command, an output of the object to be controlled, a past control input, a deviation and a model of the object to be controlled, in such a manner that an evaluation function including weighted square sum of a predicted value of a future deviation becomes minimal.

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Inventors:
TSURUTA KAZUHIRO (JP)
NAKAMURA HIROSHI (JP)
Application Number:
PCT/JP1993/000049
Publication Date:
October 14, 1993
Filing Date:
January 14, 1993
Export Citation:
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Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
TSURUTA KAZUHIRO (JP)
NAKAMURA HIROSHI (JP)
International Classes:
G05B13/04; G05B19/19; (IPC1-7): G05B13/04
Foreign References:
JPS61256405A1986-11-14
JPS6310201A1988-01-16
JPH0415706A1992-01-21
JPS63163505A1988-07-07
JPH01106103A1989-04-24
JPS6398703A1988-04-30
Other References:
See also references of EP 0587897A4
Attorney, Agent or Firm:
Kohori, Susumu (Hakata-Shin-Mitsui Bldg. 1-1, Hakataekimae 1-chome, Hakata-k, Fukuoka-shi Fukuoka 812, JP)
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