Title:
LEARNING CONTROL SYSTEM
Document Type and Number:
Japanese Patent JP3039814
Kind Code:
B2
Abstract:
PURPOSE: To perform the high precise follow-up action by correcting a control input so that the weighted squares sum of the predicted value of a future deviation can be minimum and considering the future correction quantity then.
CONSTITUTION: A trial is repeated so as to follow the output of a control object to a target command to repeat the same pattern, and a control input uk(i) at time (i) for the k-th trial is given by an expression I. In the expression I, σk(i) is a correction quantity from a previous control input uk-1, σp(i) is a correction quantity inputted until reaching the present time, eL(i) is a follow-up deviation at the previous trail, wh1 is the information concerning the dynamic characteristic of the controlled variable and a constant decided by the weighted matrix multiplied to the predicted value of the future follow-up deviation, HF and HP are the constant decided by the information concerning the dynamic characteristic of the controlled variable and W is the weighted matrix multiplied to the predicted value of the future follow-up deviation.
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Inventors:
Yuji Nakamura
Application Number:
JP22343791A
Publication Date:
May 08, 2000
Filing Date:
August 07, 1991
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
G05B13/02; G05B13/04; G05B21/02; (IPC1-7): G05B21/02; G05B13/02; G05B13/04
Domestic Patent References:
| JP1237701A | ||||
| JP5717010A | ||||
| JP236403A |