Control device, recording medium, and control system

Patent metadata

Field	Value
Publication number	US-10977576-B2
Application number	US-201815893704-A
Country	US
Kind code	B2
Filing date	Feb 12, 2018
Priority date	Jun 21, 2017
Publication date	Apr 13, 2021
Grant date	Apr 13, 2021

Abstract

A control device generates a second command value by compensating a first command value output at every control cycle according to a predetermined pattern with a correction amount output at every control cycle according to correction data, updates the correction data based on a deviation between the first command value and a feedback value from the control object, and determines an initial value of the correction data. The control device acquires a response characteristic indicating a relationship between an assigned command value and a feedback value shown in the control object in response to the command value, estimates a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic, and updates the temporary correction data based on a deviation between the first command value and the estimated feedback value.

First claim

What is claimed is:

1. A control device for controlling a control object, the control device comprising:
a processor and a memory, configured to: generate a second command value obtained by compensating a first command value output at every control cycle according to a trajectory with a correction amount output at every control cycle according to correction data and calculate and output a control output for controlling a movement of the control object according to the second command value;
update the correction data based on a deviation between the first command value and a feedback value from the control object; and
determine an initial value of the correction data used in a state in which the update of the correction data is not executed, wherein the processor is further configured to:
acquire a response characteristic indicating a relationship between a command value assigned for the control object and a feedback value shown in the control object in response to the command value;
estimate a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic; and
update the temporary correction data based on a deviation between the first command value and the estimated feedback value, wherein the processor is further configured to:
execute a simulation learning computation by using uncorrected response data and characteristic-measuring response data corresponding to a temporal change of a feedback value generated in response to a pre-correction command value defined in a characteristic-measuring command value pattern being assigned for the control object; and
set the temporary correction data obtained by executing the simulation learning computation as the initial value of the correction data.

2. The control device according to claim 1 , wherein the processor is further configured to calculate a model error from a deviation between a feedback value shown in the control object in response to the output of the first command value and a corresponding estimated feedback value.

3. The control device according to claim 2 , wherein the processor reflects the model error in post-update temporary correction data.

4. The control device according to claim 2 , wherein the processor updates a current temporary correction data with a value obtained by multiplying a deviation from the estimated feedback value by a predetermined coefficient.

5. The control device according to claim 1 , wherein the processor:
outputs a third command value at every control cycle according to a step-like designated value pattern; and
calculates a response characteristic for a unit pulse by temporal difference approximation for a temporal change in a feedback value acquired corresponding to the third command value.

6. The control device according to claim 1 , wherein the processor assigns an arbitrary command value for the control object and determines a transfer function estimated by a system identification method based on a temporal change in a feedback value acquired corresponding to the arbitrary command value as a response characteristic.

7. The control device according to claim 1 , wherein the processor is further configured to repeat processing of the estimating and the updating until a predetermined end condition is satisfied.

8. A non-transitory recording medium storing a control program for realizing a control device for controlling a control object, the control program executing, in a computer:
a step of generating a second command value obtained by compensating a first command value output at every control cycle according to a trajectory with a correction amount output at every control cycle according to correction data and calculating and outputting a control output for controlling a movement of the control object according to the second command value;
a step of updating the correction data based on a deviation between the first command value and a feedback value from the control object; and
a step of determining an initial value of the correction data used in a state in which the update of the correction data is not executed,
wherein the step of determining the initial value of the correction data comprises:
acquiring a response characteristic indicating a relationship between a command value assigned for the control object and a feedback value shown in the control object in response to the command value;
estimating a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic; and
updating the temporary correction data based on a deviation between the first command value and the estimated feedback value, wherein the step of determining the initial value of the correction data further comprises:
executing a simulation learning computation by using uncorrected response data and characteristic-measuring response data corresponding to a temporal change of a feedback value generated in response to a pre-correction command value defined in a characteristic-measuring command value pattern being assigned for the control object; and
setting the temporary correction data obtained by executing the simulation learning computation as the initial value of the correction data.

9. A control system for controlling a control object, the control system comprising:
One or more processors and a memory, configured to: generate a second command value obtained by compensating a first command value output at every control cycle according to a trajectory with a correction amount output at every control cycle according to correction data; calculate and output a control output for controlling a movement of the control object according to the second command value;
update the correction data based on a deviation between the first command value and a feedback value from the control object; and
determine an initial value of the correction data used in a state in which the update of the correction data is not executed, wherein the one or more processors are further configured to:
acquire a response characteristic indicating a relationship between a command value assigned for the control object and a feedback value shown in the control object in response to the command value;
estimate a feedback value to be shown in the control object based on a value obtained by compensating the first command value with temporary correction data and the response characteristic; and
update the temporary correction data based on a deviation between the first command value and the estimated feedback value, wherein the one or more processors are further configured to:
execute a simulation learning computation by using uncorrected response data and characteristic-measuring response data corresponding to a temporal change of a feedback value generated in response to a pre-correction command value defined in a characteristic-measuring command value pattern being assigned for the control object; and
set the temporary correction data obtained by executing the simulation learning computation as the initial value of the correction data.

10. The control device according to claim 3 , wherein the processor updates a current temporary correction data with a value obtained by multiplying a deviation from the estimated feedback value by a predetermined coefficient.

11. The control device according to claim 2 , wherein the processor:
outputs a third command value output at every control cycle according to a step-like designated value pattern; and
calculates a response characteristic for a unit pulse by temporal difference approximati

Assignees

• Omron Tateisi Electronics Co

Inventors

• Namie Masaki
• Fujii Takashi
• Kobayashi Akiro

Classifications

• G05B2219/42058

  General predictive controller GPC · CPC title

• G05B13/041

  in which a variable is automatically adjusted to optimise the performance · CPC title

• G05B13/048

  using a predictor · CPC title

• G05B2219/41374

  Observe position and driving signal, predict, estimate disturbance signal · CPC title

• G05B19/4155 Primary

  characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program · CPC title