Title:
制御システム、更新方法、推定方法、及びコンピュータプログラム
Document Type and Number:
Japanese Patent JP7387983
Kind Code:
B2
Abstract:
To provide a technique for realizing an appropriate parameter update of a controller.SOLUTION: A control system includes a controller and an update unit. The controller is configured to calculate a control input according to a transmission model containing design variables, on the basis of a target command and a control output. The update unit is configured to update the design variables in the controller. The transmission model contains a viscous friction model, and a static friction and coulomb friction model taking into account the Stribeck effect, and the design variables contain a viscous friction coefficient and static friction. In cases when the speed of a control object is equal to or higher than a reference speed, the update unit calculates a value of the viscous friction coefficient that reduces a control error, in accordance with a first evaluation function related to the control error (S140, S160). In cases when the speed of a control object is less than the reference speed, the update unit calculates a value of the static friction that reduces the control error, in accordance with a second evaluation function (S150, S170).SELECTED DRAWING: Figure 6
Inventors:
▲高▼橋 英輔
Application Number:
JP2018225745A
Publication Date:
November 29, 2023
Filing Date:
November 30, 2018
Export Citation:
Assignee:
Brother Industries, Ltd.
International Classes:
G05D3/12; G05B13/02
Domestic Patent References:
| JP7246411A | ||||
| JP2012130160A | ||||
| JP2137606A | ||||
| JP1146489A | ||||
| JP2017182624A | ||||
| JP201518496A |
Foreign References:
| WO2016203614A1 |
Other References:
永野 健太ほか,高減速複合遊星歯車機構の角度伝達誤差に基づくバックドライバビリティ向上手法の検討,第35回日本ロボット学会学術講演会 ,日本,一般財団法人日本ロボット学会,2017年09月11日,pp.1-4
Attorney, Agent or Firm:
Nagoya International Patent Attorney Corporation