Title:
PREDICTIVE CONTROLLER
Document Type and Number:
Japanese Patent JP3175877
Kind Code:
B2
Abstract:
PURPOSE: To reduce the operation volume to cope with the delay of detection of a controlled system output by providing a means, which obtains a deviation by a target command increment value and the output increment value of a controlled system, and a means which determines the control input at the present time.
CONSTITUTION: For the purpose of equalizing the output of the controlled system having the transfer function model expressed by Gp(z)=(b1z-1+...+bnbz- nb)/-(1-z-1)(1-a1z-1-...-anaz-na) to the target command, a target command increment value Δr(i+M) of M samplings after and an output increment value Δy(i-K) of the controlled system of K(≥0) samplings before are inputted at a present time (i) to output a control input V(i) to the controlled system. In this case, means where the target command increment value, constants fro predictive control, the past output increment value, and the past control input are stored, a means which obtains a deviation e(i-K) by the target command increment value and the output increment value of the controlled system, and a means which determines the control input V(i) at the present time in accordance with the formula where vm, pn, E, and gn are constants for predictive control are provided.
Inventors:
Yuji Nakamura
Kazuhiro Tsuruta
Kazuhiro Tsuruta
Application Number:
JP19795693A
Publication Date:
June 11, 2001
Filing Date:
July 14, 1993
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
G05B13/02; G05B13/04; G05B21/02; (IPC1-7): G05B13/02
Domestic Patent References:
| JP527829A | ||||
| JP62118405A | ||||
| JP5165504A | ||||
| JP798602A | ||||
| JP61256405A |