Title:
CONTROL SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/117201
Kind Code:
A1
Abstract:
Provided is a control system for causing an output of a predetermined control target, which is a target of serve control, to follow a predetermined command, comprising: a first processing device and a second processing device, the first processing device including: a first processor; and a prediction model in which a correlation between a predetermined state variable related to the predetermined control target and a control input to the predetermined control target is defined in the form of a predetermined equation of state, the first processing device being configured to perform model prediction control using the first processor and output a serve command corresponding to a control input at least at an initial time in the prediction section; and the second processing device including: a second processor that is different from the first processor; and a predetermined feedback system including one or a plurality of control devices to which a feedback signal related to operation of the predetermined control target is input, the second processing device being configured to input a serve command from the first processing device and use the second processor to perform feedback control. With this configuration, appropriate servo control is achieved by using model prediction control.
Inventors:
EGI MAMORU (JP)
Application Number:
PCT/JP2018/045693
Publication Date:
June 20, 2019
Filing Date:
December 12, 2018
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05B17/02; G05B11/36; G05B13/04
Domestic Patent References:
| WO2013140679A1 | 2013-09-26 |
Foreign References:
| JP2017102617A | 2017-06-08 | |||
| JP2012104047A | 2012-05-31 | |||
| JPH08237994A | 1996-09-13 |
Other References:
"Practical application of control by real-time optimization", 30 November 2014, CORONA PUBLISHING CO, JAPAN, ISBN: 978-4-339-03210-9, article OHTSUKA, TOSHIYUKI ET AL.: "Chapter 1 Mondai settei to arugorizumu [Question settings and algorithms]", pages: 1 - 21, XP009519240
OHTSUKA, TOSHIYUKI: "A continuation/GMRES method for fast computation of nonlinear receding horizon control", AUTOMATICA, vol. 40, no. 4, 2004, pages 563 - 574, XP055618921, ISSN: 0005-1098
SAKURAI, YUTA ET AL.: "Offset Compensation of Continuous Time Model Predictive Control by Disturbance Estimation", TRANSACTIONS OF THE INSTITUTE OF SYSTEMS, CONTROL AND INF. ENGINEERS, vol. 25, 2012, pages 172 - 180, XP055618910
MAEDER, URBAN ET AL.: "Linear offset-free Model Predictive Control", AUTOMATICA, vol. 45, no. 10, 2009, pages 2214 - 2222, XP026602110, ISSN: 0005-1098
YUTA SAKURAITOSHIYUKI OHTSUKA: "Offset Compensation of Continuous Time Model Predictive Control By Disturbance Estimation", JOURNAL OF INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS, vol. 25, no. 7, 2012, pages 10 - 18, XP055618910, DOI: 10.5687/iscie.25.172
U. MAEDERM. MORARI: "Linear offset-free model predictive control", AUTOMATICA, vol. 45, no. 10, 2009, pages 2214 - 2222, XP026602110, DOI: 10.1016/j.automatica.2009.06.005
T. OHTSUKA: "A continuation/GMRES method for fast computation of nonlinear receding horizon control", AUTOMATICA, vol. 40, 2004, pages 563 - 574, XP055618921, DOI: 10.1016/j.automatica.2003.11.005
See also references of EP 3726304A4
OHTSUKA, TOSHIYUKI: "A continuation/GMRES method for fast computation of nonlinear receding horizon control", AUTOMATICA, vol. 40, no. 4, 2004, pages 563 - 574, XP055618921, ISSN: 0005-1098
SAKURAI, YUTA ET AL.: "Offset Compensation of Continuous Time Model Predictive Control by Disturbance Estimation", TRANSACTIONS OF THE INSTITUTE OF SYSTEMS, CONTROL AND INF. ENGINEERS, vol. 25, 2012, pages 172 - 180, XP055618910
MAEDER, URBAN ET AL.: "Linear offset-free Model Predictive Control", AUTOMATICA, vol. 45, no. 10, 2009, pages 2214 - 2222, XP026602110, ISSN: 0005-1098
YUTA SAKURAITOSHIYUKI OHTSUKA: "Offset Compensation of Continuous Time Model Predictive Control By Disturbance Estimation", JOURNAL OF INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS, vol. 25, no. 7, 2012, pages 10 - 18, XP055618910, DOI: 10.5687/iscie.25.172
U. MAEDERM. MORARI: "Linear offset-free model predictive control", AUTOMATICA, vol. 45, no. 10, 2009, pages 2214 - 2222, XP026602110, DOI: 10.1016/j.automatica.2009.06.005
T. OHTSUKA: "A continuation/GMRES method for fast computation of nonlinear receding horizon control", AUTOMATICA, vol. 40, 2004, pages 563 - 574, XP055618921, DOI: 10.1016/j.automatica.2003.11.005
See also references of EP 3726304A4
Attorney, Agent or Firm:
IP FIRM SHUWA (JP)
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