CONTROL DEVICE, MODEL CREATION METHOD, CONTROL PROGRAM

Title:

CONTROL DEVICE, MODEL CREATION METHOD, CONTROL PROGRAM

Document Type and Number:

WIPO Patent Application WO/2020/162199

Kind Code:

A1

Abstract:

This control device is provided with a control means for generating a manipulated variable to be outputted to a servo driver by performing, for each control period, model-based predictive control using a dynamic characteristic model indicating the relation between the manipulated variable and the position of an object to be controlled. The dynamic characteristic model includes a first dynamic characteristic model indicating the relation between the position of a servomotor and a manipulated variable, a second dynamic characteristic model indicating the relation between the position of the servomotor and the position of the object to be controlled. The second dynamic characteristic model is created by using a waveform parameter extracted from the vibration waveform of the object to be controlled. The waveform parameter includes a vibration frequency. With this configuration, it is possible to provide such a control device that can improve the vibration-damping property regarding the position of an object to be controlled and the followability with respect to a target position.

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Inventors:

NAMIE MASAKI (JP)
INAME YUKIO (JP)
USUI YOSHIMASA (JP)

Application Number:

PCT/JP2020/002255

Publication Date:

August 13, 2020

Filing Date:

January 23, 2020

Export Citation:

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Assignee:

OMRON TATEISI ELECTRONICS CO (JP)

International Classes:

G05B13/04

Foreign References:

JP2018151899A	2018-09-27
JPH10323070A	1998-12-04
JP2014127101A	2014-07-07
JP2017175890A	2017-09-28
JP2018120327A	2018-08-02

Other References: