Title:
CONTROL DEVICE, CONTROL SYSTEM, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2023/053514
Kind Code:
A1
Abstract:
The present invention improves the accuracy of feedforward control with respect to a control object. A feedback operation amount (rb) for the control object (200) is determined by a feedback control means (110) on the basis of an error (eq) between a target value (qr) and a control amount (q). A feedforward compensation means (120) predicts a feedforward compensation value (rf) of the feedback operation amount (rb) from a disturbance (d) by using a prediction model (Mp). A learning means (130) performs machine learning on the prediction model (Mp) by using supervised data (Ds). The learning means (130) adds, to the supervised data (Ds), a combination that includes an operation amount (r) and a disturbance (d) in a case where the absolute value of the error (eq) is less than a reference value (α).
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Inventors:
FUJII TAKASHI (JP)
Application Number:
PCT/JP2022/012679
Publication Date:
April 06, 2023
Filing Date:
March 18, 2022
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05B13/02
Foreign References:
| JP2020060827A | 2020-04-16 | |||
| JP2018169695A | 2018-11-01 | |||
| JP2014006566A | 2014-01-16 | |||
| JPH10222207A | 1998-08-21 |
Attorney, Agent or Firm:
FUKAMI PATENT OFFICE, P.C. (JP)
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