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Title:
CONTROL DEVICE AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/162200
Kind Code:
A1
Abstract:
A control unit of this control device executes, when the position of an object to be controlled is within a predetermined range, a model predictive control based on a first mode in which a measurement value is used as a controlled variable in a current control period, and executes, when the position of the object to be controlled is outside the predetermined range, a model predictive control based on a second mode in which an output value of a dynamic characteristic model is used as the controlled variable in the current control period. Accordingly, even when the measurement position of the object to be controlled can be obtained only partially in the movable range, the vibration-damping property during positioning can be improved.

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Inventors:
NAMIE MASAKI (JP)
INAME YUKIO (JP)
USUI YOSHIMASA (JP)
Application Number:
PCT/JP2020/002258
Publication Date:
August 13, 2020
Filing Date:
January 23, 2020
Export Citation:
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Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05D3/12; G05B13/04
Foreign References:
JP2018151899A2018-09-27
JP2003029845A2003-01-31
JP2017022933A2017-01-26
JP2004120963A2004-04-15
JP2018120327A2018-08-02
Other References:
See also references of EP 3923091A4
Attorney, Agent or Firm:
FUKAMI PATENT OFFICE, P.C. (JP)
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