Title:
POWER ASSIST SYSTEM USING MODEL PREDICTIVE CONTROL
Document Type and Number:
WIPO Patent Application WO/2014/091922
Kind Code:
A1
Abstract:
The present invention addresses the problem of providing a power assist system capable of predicting a future state quantity from inputted present operation torque.
A power assist system (1) is provided with: a first model predictive control system comprising an amplification circuit, a present deviation generation circuit, a set value trajectory generation circuit, an error generation circuit, a reference trajectory generation circuit, a tracking error generation circuit, a change value generation circuit, a first integration circuit, an internal model, a total change value generation circuit, a first sample hold circuit, a total state quantity generation circuit, and a state quantity generation circuit; and a second model predictive control system (S) comprising a controller (45) which generates a pre-restriction control input value (44), a limiter (47) which generates a post-restriction control input value (46), a slider (2) which generates an actual output value (48), and an internal model (50) of an object to be controlled, the internal model generating an internal model output value (49).
Inventors:
MORI TAKAHIKO (JP)
Application Number:
PCT/JP2013/081756
Publication Date:
June 19, 2014
Filing Date:
November 26, 2013
Export Citation:
Assignee:
INST NAT COLLEGES TECH JAPAN (JP)
International Classes:
G05B17/02; B25J11/00; G05B11/36; B66F19/00
Foreign References:
| JPH06337704A | 1994-12-06 |
Other References:
TAKAHIKO MORI: "Development of Power Assist System with Motion Estimation Using Model Predictive Control", IEICE TECHNICAL REPORT, vol. 111, no. 432, 2 February 2012 (2012-02-02), pages 1 - 6
JUN'YA NAGASE: "Predictive Functional Control of Stiffness-changeable Finger Using Soft Rubber Device", TRANSACTIONS OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS, vol. 48, no. 8, 31 August 2012 (2012-08-31), pages 470 - 478
JUN'YA NAGASE: "Predictive Functional Control of Stiffness-changeable Finger Using Soft Rubber Device", TRANSACTIONS OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS, vol. 48, no. 8, 31 August 2012 (2012-08-31), pages 470 - 478
Attorney, Agent or Firm:
MAEDA Kanji et al. (JP)
Kanji Maeda (JP)
Kanji Maeda (JP)
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