公开(公告)号：EP3923091A1

公开(公告)日：2021-12-15

申请号：EP20752283.0

申请日：2020-01-23

申请人： OMRON Corporation

发明人： NAMIE, Masaki ,  INAME, Yukio ,  USUI, Yoshimasa

IPC分类号： G05B13/04 ,  G05D3/12

摘要： The controlled device comprises a control unit configured to perform model predictive control in a first mode using a measured value as a controlled variable for the current control period when a controlled object has a position within a predetermined range, and configured to perform model predictive control in a second mode using an output value of a dynamics model as the controlled variable for the current control period when the controlled object has a position outside the predetermined range. Thus, even when the controlled object has its position measured only within a portion of its movability range, it can be positioned while vibration is better damped.

公开(公告)号：EP3923092A1

公开(公告)日：2021-12-15

申请号：EP20752882.9

申请日：2020-01-23

申请人： OMRON Corporation

发明人： NAMIE, Masaki ,  INAME, Yukio ,  USUI, Yoshimasa

IPC分类号： G05B13/04

摘要： A control device includes a control means configured to perform model predictive control for each control period using a dynamics model representing a relationship between a manipulated variable and the position of a controlled object to generate a manipulated variable to be output to the servo driver. The dynamics model includes a first dynamics model representing a relationship between the manipulated variable and a position of a servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object. The second dynamics model is created using a waveform parameter extracted from a vibration waveform of the controlled object. The waveform parameter includes a vibration frequency. The control device can thus better damp vibration for the position of the controlled object and allows the controlled object to positionally better track a target position.