JP2008204002A - Simulator, storage medium, program, control device and control method for simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve functionality and processing speed of a control system without exchanging a control device. <P>SOLUTION: In a simulator 10, a sequencer 20, an orbit generator 30, an ideal feedback control unit 40, a holder 50 and an actual system model 60 are formed as virtual equipment on a computer. On the simulator 10, the ideal feedback control unit 40 determines input to the actual system model 60 from the state quantity and an operation instruction pattern of a control object model 90, and decides a feedback loop, and outputs input to the actual system model 60 to a memory 15 as time-series data. On the simulator 10, the holder 50 updates a value based on an arithmetic result in each servo cycle of the sequencer 112 on an actual system 110, and holds the value until the next servo cycle. The update cycle of ideal control input generated by the holder 50 becomes the same servo cycle as that of the sequencer 112. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

The present invention relates to a simulator, a storage medium, a program, a control device, and a simulator control method configured to reflect data obtained by simulation in an actual system.

  For example, when manufacturing a control device, an operation command pattern is input to a simulated model generated on a computer using a simulator to determine how much performance the control device can obtain in an actual system. Then, the actual control characteristic is estimated by simulating the control characteristic while gradually changing the state quantity obtained from each sensor.

  A method of using a simulation as a means for examining such a control method is generally performed (see, for example, Patent Document 1). In Patent Document 1, a mechanical operation analysis unit creates a simulation model for each of an actual motor drive device, a motor, and a motor load machine by software, and creates a model of a mechanism unit of the motor load machine. Then, after driving specifications are input to the required model by the driving specification input unit, control parameters such as driving patterns are input to the motor drive model by the driving pattern input unit, and the mechanical unit dynamic model is simulated to perform mechanical operation analysis. In the section, the change in the speed and position of the tip of the mechanical section dynamic model is calculated.

Feedback control is a method of adjusting the control input value so as to reduce the error of the target value to be controlled.However, since there is a limit to the target tracking performance, the tracking time difference is limited in devices that require higher accuracy. The request may not be met. There is also a method of performing feedforward control using an inverse model in order to improve operation in a system in which operation improvement by feedback control is difficult (see, for example, Patent Document 2). In Patent Document 2, target air-fuel ratio setting means for setting a target air-fuel ratio, feed-forward control means for feed-forward correcting the supply air-fuel ratio in accordance with the target air-fuel ratio set by the target air-fuel ratio setting means, Target air-fuel ratio correcting means for correcting the target air-fuel ratio set by the fuel-fuel ratio setting means with the reference model M, and supply so that the air-fuel ratio detected by the air-fuel ratio sensor coincides with the target air-fuel ratio corrected by the target air-fuel ratio correcting means. An air-fuel ratio control system is constituted by feedback control means for feedback-correcting the air-fuel ratio, and the feedforward control means comprises a predetermined response model for the target air-fuel ratio and an inverse model of the internal combustion engine model.
JP 2006-33929 A JP 2006-144721 A

  In the control method described in Patent Document 1, since the control device constructed on the simulator is mounted on the real system, an excellent control method in which the result obtained by the simulation can be reflected in the real system. However, there are cases where the performance of the control device to be implemented is insufficient, or an expensive control device is required and cannot be mounted. For this reason, a control device that can be implemented cost-effectively was built on the simulator, and the control method, control parameters, etc. were examined so as to approach the required performance. There was a problem that it took time and effort.

  Further, in the control method for performing feedforward control by the inverse model described in Patent Document 2, there is no inverse model depending on the control target, or it may be very difficult to obtain the inverse model, and is not applicable. There was a problem that there was.

  SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a simulator, a storage medium, a program, a control device, and a simulator control method that solve the above problems.

  In order to solve the above problems, the present invention has the following means.

  The present invention includes a controlled system model obtained by modeling a controlled object, and an actual system model in which at least a part of the actual system is modeled, ideal feedback means for performing ideal control on the actual system model, and the actual system A simulator operation command pattern generation means for generating an operation command pattern in a system model; and storage means for storing control data output from the ideal feedback means, wherein the ideal feedback means is a state of the control target model. When a closed loop for determining the input to the actual system model is determined from the quantity and the operation command pattern by the simulator operation command pattern generating means, and input to the pattern generator for generating an ideal control input in the actual system By outputting the series data to the storage means It is intended to solve the above problems.

  This invention solves the said subject by having the holder which reflected the control period of the said real system model in the output of the said ideal feedback means.

  It is desirable that the state quantity of the controlled object model includes a state quantity other than that obtained from a sensor used in the actual system.

  The real system model preferably includes a feedback controller model and a controlled object model, and a closed loop is established between the feedback controller model and the controlled object model.

  The control target model is preferably input with data obtained by adding an ideal control input from the ideal feedback means to an output from the feedback controller model.

  The feedback controller model is preferably inputted with an ideal control input from the ideal feedback means.

  The present invention solves the above problems by a storage medium that stores the time-series data transferred from a simulator and outputs the time-series data to a pattern generator that generates an ideal control input in the real system. .

  The present invention includes a computer including a controlled object model obtained by modeling a controlled object, and a procedure for forming an actual system model in which at least a part of the actual system is modeled, and an operation command pattern in the actual system model. A closed loop for determining an input to the actual system model from the procedure, the state quantity of the controlled object model and the operation command pattern is formulated, and input to a pattern generator for generating an ideal control input in the actual system The above-described problem is solved by a program for executing a procedure for outputting time-series data to a storage means.

  The present invention solves the above problems by a control device having a memory in which the program is stored.

  The present invention includes a control object model obtained by modeling a control object, a procedure for forming a real system model in which at least a part of the real system is modeled, a procedure for generating an operation command pattern in the real system model, Time series data input to a pattern generator for generating an ideal control input in the real system while formulating a closed loop for determining an input to the real system model from the state quantity of the controlled object model and the operation command pattern The above-mentioned problem is solved by a procedure for outputting the data to the storage means and a simulator control method characterized by this.

  According to the present invention, the ideal feedback means determines the input to the actual system model from the state quantity to be controlled and the operation command pattern, formulates the feedback loop, and generates the pattern for generating the ideal control input in the actual system. Since it is output to the storage means as time-series data that is input to the device, there is no need to implement a program, arithmetic expression, or function that exists in the virtual space of the simulator in the real system. It can be constructed with sophisticated programs and complex calculations, can be simulated to perform virtually fast processing, and can be fed back state quantities that are actually difficult to measure. In addition, when implementing, only the time-series data as the ideal control input obtained as a result of the simulation need be input to the control device of the real system, so the control device of the real system can implement the ideal feedback controller. Even without this, the simulation results can be reflected in the actual system to improve the control response.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

<Outline of the present invention>
In the present invention, in the simulator, a real system model approximated to the real system is constructed, ideal feedback data (time series data) for the real system model is obtained, and this data is stored in the memory. By installing the memory of the pattern generator of the real system, the high accuracy of the control in the real system is realized.

  Hereinafter, a preferred embodiment of a simulator, a storage medium, a program, a control device, and a simulator control method according to the present invention will be described with reference to the drawings.

<Apparatus configuration in the present embodiment>
First, the simulator in the present embodiment will be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of a hardware configuration of a simulator according to the present embodiment.

  As shown in FIG. 1, the simulator 10 includes an input device 11, an output device 12, a drive device 13, an auxiliary storage device 14, a memory 15, and a CPU (Central Processing Unit) 16 that performs various controls. And a network connection device 17, which are connected to each other via a system bus B.

  The input device 11 has a pointing device such as a keyboard and a mouse operated by a user, and inputs various operation signals such as execution of a program from the user. The output device 12 has a display for displaying various windows and data necessary for operating the computer main body for performing the simulation processing according to the present invention, and the program execution progress and results are controlled by the control program of the CPU 16. Etc. can be displayed.

  Here, in the present invention, a program for performing a simulation process includes a procedure for forming a real system model in which a computer includes a controlled object model obtained by modeling a controlled object and at least a part of the actual system is modeled, Create a closed loop to determine the input to the actual system model from the procedure to generate the operation command pattern in the system model, the state quantity of the controlled object model and the operation command pattern, and generate the pattern to generate the ideal control input in the actual system And a procedure for outputting time-series data input to the storage device to the storage means.

  This program is installed in the computer body via a storage medium 18 such as a CD-ROM. The storage medium 18 storing the program can be set in the drive device 13, and the execution program included in the storage medium 18 is installed from the storage medium 18 to the auxiliary storage device 14 via the drive device 13.

  The auxiliary storage device 14 is a storage means such as a hard disk, and stores an execution program according to the present invention, a control program provided in a computer, input data and processing results necessary for simulation according to the present invention, and further if necessary. Input / output. For this reason, in the present embodiment, the simulation result (time series data serving as an ideal control input) obtained by the simulation process is stored in the auxiliary storage device 14. When the ideal control input data is installed in the real system, for example, the ideal control input data is stored in the storage medium 100 set in the drive device 13 and installed in the storage device of the real system 110 via the storage medium 100.

  The memory 15 is a storage unit that stores an execution program read from the auxiliary storage device 14 by the CPU 16, time-series data serving as an ideal control input, and the like, for example, a ROM (Read Only Memory) or a RAM (Random Access Memory). Etc.

  Based on a control program such as an OS (Operating System) and an execution program read and stored in the memory 15, the CPU 16 performs processing of the entire computer such as various operations and input / output of data with each hardware component. Each process can be realized by controlling the above. Further, the CPU 16 can acquire various types of information necessary during execution of the program from the auxiliary storage device 14, and can store processing results and the like in the auxiliary storage device 14.

  The network connection device 17 obtains an execution program from another terminal connected to the communication network by connecting to a communication network or the like, or executes a simulation result (ideal control input data) obtained by simulation processing. It can be provided to a system controller or the like.

  FIG. 2 is a block diagram schematically showing a configuration example of a simulator and an actual system according to the present invention. As shown in FIG. 2, the simulator 10 is, for example, a computer device in which a program for performing simulation is installed, and models of each device are virtually installed on the computer so as to have a system configuration corresponding to the actual system 110. Has been built. The simulator 10 of this embodiment includes a sequencer 20, a trajectory generator (simulator operation command pattern generation means) 30, an ideal feedback controller (ideal feedback means) 40, a holder 50, and an actual system model 60. It is formed as a virtual device on a computer. The actual system model 60 includes a feedback controller model 80 corresponding to the feedback controller 160 of the actual system 110 and a controlled object model 90, and a closed loop is established between the feedback controller model 80 and the controlled object model 90. ing.

  Further, the simulator 10 forms a real system model 60 in which the real system 110 having a control target is modeled based on the program described above, and a procedure for generating an operation command pattern in the real system model 60. And a procedure for formulating a closed loop for determining an input to the real system model 60 from a state quantity to be controlled and an operation command pattern, and outputting time series data input to the real system model 60 to the memory 15. It is set to execute the simulator control method.

  Here, each device constituting the actual system 110 will be described. The real system 110 includes a sequencer 120, a pattern generator 130, a holder 140, a trajectory generator 150, a feedback controller 160, an adder 170, and a control object 180. In the control device of the actual system 110, the sequencer 120, the pattern generator 130, the holder 140, the trajectory generator 150, the feedback controller 160, and the adder 170 are formed by a program, and a predetermined servo cycle is formed. The operation is performed every time.

  In the memory of the pattern generator 130, control data for controlling the control object 180 and a program for generating control data are installed. The control data stored in the memory of the pattern generator 130 is ideal control input data (time-series data) stored in the memory 15 as a result of the simulation processing by the simulator 10 and is stored via the storage medium 100.

  The sequencer 120 sequentially outputs sequence signals on the actual system 110 based on a preset control program.

  The pattern generator 130 extracts the ideal control input corresponding to the command from the data of the ideal control input stored in the built-in memory via the storage medium 100 based on the command from the sequencer 120 on the actual system 110. Output.

  The trajectory generator 150 generates an operation command pattern on the actual system 110 based on a command signal from the sequencer 120.

  The feedback controller 160 generates a correction control input from the measurement amount input from the control object 180 via the sampler 145 and the operation command pattern from the trajectory generator 150.

  The sampler 145 acquires the measurement amount measured by the measurement unit of the control target 180 for each servo cycle of the control device 112. The control device 112 performs a calculation based on the acquired value.

  The adder 170 adds the ideal control input generated by the pattern generator 130 and the correction control input generated by the feedback controller 160 to generate a control input.

  The value of the holder 140 is updated according to the calculation result for each servo cycle of the control device 112 of the actual system 110, and the value is held until the next servo cycle.

  On the other hand, on the simulator 10, a modeled configuration corresponding to the configuration of the actual system 110 configured as described above is constructed, and each device has the following functions. The sequencer 20 on the simulator 10 sequentially outputs sequence signals based on a preset control program.

  The trajectory generator 30 on the simulator 10 generates an operation command pattern on the simulator 10 based on a command signal from the sequencer 20.

  The ideal feedback controller 40 on the simulator 10 determines the input to the actual system model 60 from the state quantity of the control target model 90 and the operation command pattern on the simulator 10, formulates a feedback loop, and implements the actual system model. This is an ideal feedback means for outputting the input to 60 to the memory 15 as time series data. Further, the ideal feedback controller 40 generates a signal to be input in order to realize the operation command pattern, and thus is an inverse system.

  In the memory 15, the time series data of the ideal control input is stored together with the sequence signal.

  Further, since the ideal feedback controller 40 on the simulator 10 is not intended to be mounted, the controllability can be improved without being restricted by the control device 112 of the actual system 110.

  For example, among the state quantities of the controlled object model 90 modeled on the simulator 10, the ideal control output is a state quantity for evaluating the control performance, and the state of the controlled object model 90 fed back to the ideal feedback controller 40. As for the quantity, in addition to the measurement quantity measured by the actual system 110, a state quantity that is not actually measured can be used as necessary.

  Further, since the ideal feedback controller 40 is not intended to be implemented, it can be constructed by an advanced program or a complicated calculation, or can execute virtually high-speed processing.

  On the simulator 10, the value of the holder 50 is updated by the calculation result for each servo cycle of the control device 112 on the actual system 110, and the value is held until the next servo cycle. Therefore, even if the ideal feedback controller 40 adopts a high-speed servo cycle, the update cycle of the ideal control input generated by the holder 50 is the same servo cycle as that of the control device 112 of the actual system 110 described above. Therefore, the ideal control input along the control cycle of the real system 110 can be used for the control of the real system 110.

  The real system model 60 includes a feedback controller model 80, an adder 85, a holder model 87, a control target model 90, and a sampler model 92. The real system model 60 includes a feedback controller 160, an adder 170, a holder 140, This corresponds to the sampler 145 and the controlled object 180. As with the holder 140 described above, the value of the holder model 87 is updated by the calculation result every servo cycle, and the value is held until the next servo cycle.

  The control target model 90 is a model of the control target 180 of the real system 110. Since the controlled object model 90 is not intended for implementation, the controlled object 180 of the actual system 110 can be accurately modeled without being restricted by the control device 112 of the actual system 110.

  The sequence stored in the memory 15 from the sequencer 20 and the ideal control input data stored in the memory 15 from the ideal feedback controller 40 are, for example, a storage medium 100 such as a CD-R or MO via the drive device 13 described above. And is further installed in the memory of the pattern generator 130 via the storage medium 100.

  The time-series data stored in the memory 15 from the ideal feedback controller 40 is ideal control input data, is added to the output from the feedback controller model 80, is input to the controlled object model 90 via the holder model 87, Thereby, the controlled object model 90 is ideally controlled. In addition, the ideal feedback controller 40 can generate ideal control input data according to a predetermined operation command pattern, so that it is effective when applied to a system that repeatedly executes a predetermined operation pattern. It is.

  In the actual system 110, the time-series data generated from the pattern generator 130 according to the sequence signal is a reproduction of ideal control input data. A control input obtained by adding the ideal control input and the correction control input output from the feedback controller 160 is input to the control target 180 via the holder 140, whereby the control target 180 is ideally controlled.

  FIG. 3 is a diagram showing a stage driving device as an example of the control object 180. As shown in FIG. 3, the control input is a motor current command to the motor driver 200. The measurement amount is an output from the encoder 240 attached to the motor 210. The control output is the position of the stage 230. The operation command pattern is time series data of the target position of the stage 230. The stage 230 is controlled based on the operation command pattern and the measurement amount.

  Here, a case where the present invention is applied will be described with the stage apparatus shown in FIG. 3 as a control target. As described with reference to FIG. 2, the stage apparatus is constructed as a control target model on the simulator 10.

  Thereby, the position of the stage 230 output by the control target model built on the simulator 10 can be used as an ideal control output for control. Therefore, an ideal feedback controller 40 that outputs an ideal control input is constructed on the simulator 10 based on the operation command pattern and the ideal control output. This makes it possible to ideally control the control target model 90.

  Here, the ideal control input output by the ideal feedback controller 40 is stored in the memory 15 via the holder 50, and the ideal control input that matches the control cycle of the actual system 110 is controlled, that is, the position control of the stage 230. Used for. As described above, by applying the present invention to the stage control position, it is possible to feed back a state quantity that is actually difficult to measure, and control responsiveness in the actual system 110 without mounting a high-performance control device. Can be improved.

  In the present embodiment, it is preferable that the friction of the ball screw 220 is a state quantity output by the control target model 90. In this case, the influence of disturbance due to the friction of the ball screw 220 can be suppressed by feeding back the state quantity (friction of the ball screw 220) by the ideal feedback controller 40.

  Further, it is preferable that the torque fluctuation of the motor 210 is a state quantity output by the control target model 90. In this case, torque fluctuation of the motor 210 can be suppressed by feeding back the state quantity (torque of the motor 210) by the ideal feedback controller 40.

  Further, the simulator is implemented on the assumption that the servo cycle of the ideal feedback controller 40 on the simulator 10 is virtually fast.

  As a result, the simulator 10 is ideally controlled with a value close to the target of the position of the stage 230, and the torque pattern (ideal control input) at that time is stored in the memory 15.

  By generating this torque pattern (ideal control input) from the pattern generator 130, the target result of the position of the stage 230 is approached even in the actual system, and the position of the stage 230 can be ideally controlled.

  In the present embodiment, the drive system in which the motor driving force as described above is transmitted to the ball screw 220 to move the stage 230 is shown as an example of the configuration of the actual system. Needless to say, the present invention can be applied to control of an electromagnetic force, control of an air cylinder, temperature control, etc. in addition to control and control of a robot arm.

  FIG. 4A is a waveform diagram showing an example of an operation command pattern. As shown in FIG. 4A, the operation command pattern Pa is a signal generated by the activation generator 150 of the real system 110 and is time-series data of the target position of the stage 230 of the real system 110.

  FIG. 4B is a waveform diagram showing an example of conventional control output in the actual system 110. As shown in FIG. 4B, the pattern Pb is in a state in which there is a delay or overshoot with respect to the operation command pattern Pa and the operation is performed with an error with respect to the command.

  FIG. 4C is a waveform diagram showing an example of control output in the simulator 10. As shown in FIG. 4C, the operation command pattern Pa from the sequencer 20 of the simulator 10 and the control output Pb from the controlled object model 90 are almost the same. By improving the control performance with the ideal feedback controller 40 that is not assumed to be mounted, a state of operating with a very small error with respect to the command is virtually realized.

  FIG. 4D is a waveform diagram showing an example of ideal control input data. The ideal control input data Pd shown in FIG. 4D is an output through the holder 50 of the ideal feedback controller 40 in the simulator 10 and is time-series data stored in the memory 15. The ideal control input data is data generated according to the sequence signal from the pattern generator 130 of the real system 110.

  FIG. 4E is a waveform diagram showing an example of the control output according to the present invention in the actual system 110. As shown in FIG. 4E, the control output Pb and the operation command pattern Pa substantially match. The ideal control input generated by the system 10 is reproduced by the pattern generator 130 of the real system 110, so that the real system 110 is also operating with a very small error with respect to the command.

  Therefore, in the actual system 110, the ideal control input data obtained by the simulator 10 is stored in the memory of the pattern generator 130, so that the ideal control input data which is the optimal control data for controlling the controlled object 180 is the pattern. Since it is reproduced by the generator 130, high-speed and high-precision feedback control is possible without performing high-speed arithmetic processing by an expensive and high-performance control device.

  The pattern generator 130 is added to the real system 110 according to the present invention, and the servo cycle is the same as the conventional one. Therefore, the control device 112 of the real system 110 can be realized with the same performance as the conventional one. Control performance can be improved.

  Further, the performance and control algorithm of the ideal feedback controller 40 virtually designed by the simulator 10 need not be realized in the real system 110.

  FIG. 5 is a diagram showing a system configuration of a modified example. In FIG. 5, the same parts as those of the system shown in FIG.

  As shown in FIG. 5, in the real system 410 of the modified example, the time series data generated from the pattern generator 130 is held in the holder 135, and the time series data is input to the feedback controller 160 via the holder 135. The Furthermore, the actual system 410 has the trajectory generator 150 and the adder 170 of the above-described embodiment, and the system configuration is simplified by the addition of the addition process.

  Furthermore, since the control device 412 of the actual system 410 does not need the function of adding to the control input, the mountable range is widened and the number of systems to be applied can be increased. In addition, the present invention can be modified and applied according to the configuration of the real system, and can be applied to a case where the real system is a system having multiple feedback loops or a system having no feedback loops.

  On the other hand, on the simulator 310 of the modified example, an actual system model 360 modeled corresponding to each device constituting the actual system 410 is formed. The actual system model 360 includes a feedback controller model 80 and a controlled object model 90.

  In the modified simulator 310, the time series data output from the ideal feedback controller 40 is directly input to the feedback controller model 80 via the holder 50. Then, the time series data generated by the feedback controller model 80 is input to the control target model 90 as it is. In this modification, the adder 85 of the above-described embodiment is eliminated, and the system configuration is simplified by the addition of the addition process.

  The ideal control input data (see FIG. 4D) Pd composed of time-series data generated by the ideal feedback controller 40 is stored in the memory 15 and the pattern generator 130 via the storage medium 100 as in the above-described embodiment. Installed in memory. In the real system 410, the ideal control input data pattern Pd, which is the optimal control data for controlling the controlled object 180, is obtained, so that high-speed arithmetic processing is not performed by an expensive and high-performance control device. High-speed and highly accurate feedback control is possible.

  Further, the actual system models 60 and 360 preferably include a feedback controller model 80 and a controlled object model 90, and a closed loop is preferably established between the feedback controller model 80 and the controlled object model 90. Corresponding to). As a result, in the actual systems 110 and 410, the feedback controller 160 and the control object 180 for which a feedback loop is formulated are modeled on the simulator 10 and included in the actual system models 60 and 360. The ideal feedback controller 40 of the actual system models 60 and 360 can be designed in consideration of the performance of the feedback controller 160.

  Moreover, it is preferable that the control target model 90 is input with data obtained by adding the ideal control input from the ideal feedback controller 40 to the output from the feedback controller model 80 (corresponding to claim 5). As a result, data obtained by adding the output of the ideal feedback controller 40 and the output of the feedback controller model 80 is input to the controller of the control target model 90 on the simulators 10 and 310, so that higher performance control can be performed. It is possible to realize.

  The feedback controller model 80 on the simulator 310 is preferably input with an ideal control input from the ideal feedback controller 40 (corresponding to claim 6). As a result, the output of the ideal feedback controller 40 is input to the controller of the controlled object model 90, so that higher-performance control can be realized.

  In addition, by causing a computer to read the program, a procedure for forming real system models 60 and 360 including a control target model 90 in which a control target is modeled and at least a part of the real system is modeled, and a real system model A closed loop for determining the input to the actual system models 60 and 360 from the procedure for generating the operation command patterns at 60 and 360, the state quantity of the control target model 90 and the operation command pattern is formulated, and the actual systems 110 and 410 It is preferable that the time series data input to the pattern generator 130 for generating the ideal control input is output to the memory (storage means) 15 (corresponding to claim 8). This eliminates the need to implement programs, arithmetic expressions, and functions existing in the virtual space of the simulators 10 and 310 in the real systems 110 and 410, so that the ideal feedback controller 40 and the control target model 90 can be configured with advanced programs and complex It is possible to construct by simple calculation, to perform simulation so that virtually high-speed processing can be executed, and to feed back a state quantity that is actually difficult to measure.

  The pattern generator 130 as a control device preferably has a memory in which the program is stored (corresponding to claim 9). As a result, the pattern generator 130 can read the program stored in the memory and execute each procedure. Therefore, even if the ideal feedback controller 40 cannot be installed in the real systems 110 and 410, the simulation result can be obtained. The control response can be improved by reflecting to the actual systems 110 and 410.

  The simulators 10 and 310 include a control target model 90 obtained by modeling a control target, a procedure for forming real system models 60 and 360 in which at least a part of the real system is modeled, and the real system models 60 and 360. The closed loop for determining the input to the actual system models 60 and 360 from the procedure for generating the operation command pattern in FIG. 5 and the state quantity and the operation command pattern of the control target model 90 is formulated. It is preferable to execute a control method including a procedure of outputting time series data input to the pattern generator 130 for generating the data to the memory (storage means) 15 (corresponding to claim 10). This eliminates the need to implement programs, arithmetic expressions, and functions existing in the virtual space of the simulators 10 and 310 in the real systems 110 and 410, so that the ideal feedback controller 40 and the control target model 90 can be configured with advanced programs and complex It is possible to construct by simple calculation, to perform simulation so that virtually high-speed processing can be executed, and to feed back a state quantity that is actually difficult to measure.

  In the above embodiment, the configuration example of the motor drive system as shown in FIG. 3 is exemplified as the control target. However, the present invention can be applied to any configuration as long as the control target model 90 can be constructed on the simulator. The ideal control input data is stored in the memory 15 by the simulation process, and this ideal control input data is installed in the memory of the pattern generator 130 of the real systems 110 and 410, so that the real system is substantially changed without changing the control device. High functionality and high performance can be achieved.

It is a figure which shows an example of the hardware constitutions of the simulator in a present Example. It is a block diagram which shows typically the structural example of the simulator by this invention, and a real system. It is a figure which shows an example of the control object. It is a wave form diagram which shows an example of an operation command pattern. It is a wave form diagram which shows an example of the conventional control output. It is a wave form diagram which shows an example at the time of performing feedback control with the control apparatus which can be controlled at high speed. It is a wave form diagram which shows an example of ideal control input data. It is a wave form diagram which shows an example of the pattern Pd of the ideal control input data produced | generated by the pattern generator. It is a figure which shows the system configuration | structure of a modification.

Explanation of symbols

10, 310 Simulator 11 Input device 12 Output device 13 Drive device 14 Auxiliary storage device 15 Memory 16 CPU
17 Network connection device 20, 120 Sequencer 30 Trajectory generator 40 Ideal feedback controller 50 Holder 60 Actual system model 80 Feedback controller model 85, 170 Adder 90 Control target model 100 Storage medium 110, 410 Real system 130 Pattern generator 140 Holder 150 Trajectory generator 160 Feedback controller 180 Control target 200 Motor driver 210 Motor 220 Ball screw 230 Stage 240 Encoder

Claims (10)

A real system model including a controlled object model obtained by modeling a controlled object, at least a part of the actual system being modeled, and
Ideal feedback means for performing ideal control on the real system model;
An operation command pattern generation means for a simulator for generating an operation command pattern in the real system model;
Storage means for storing control data output from the ideal feedback means;
With
The ideal feedback means formulates a closed loop for determining an input to the real system model from a state quantity of the control target model and an operation command pattern by the simulator operation command pattern generation means, and ideal control is performed in the real system. A simulator which outputs time series data input to a pattern generator for generating an input to the storage means.   The simulator according to claim 1, further comprising a holder that reflects a control cycle of the real system model in an output of the ideal feedback unit.   The simulator according to claim 1, wherein the state quantity of the control target model includes a state quantity other than that obtained from a sensor used in the real system.   4. The real system model includes a feedback controller model and the controlled object model, and a closed loop is established between the feedback controller model and the controlled object model. The simulator described in Crab.   5. The simulator according to claim 4, wherein the controlled object model is input with data obtained by adding an ideal control input from the ideal feedback means to an output from the feedback controller model.   The simulator according to claim 4, wherein the feedback controller model receives an ideal control input from the ideal feedback means.   The time series data transferred from the simulator according to any one of claims 1 to 6 is stored, and the time series data is output to a pattern generator that generates an ideal control input in the real system. Storage medium. On the computer,
Including a controlled object model obtained by modeling a controlled object, and forming a real system model in which at least a part of the actual system is modeled;
A procedure for generating an operation command pattern in the real system model;
Time series data input to a pattern generator for generating an ideal control input in the real system while formulating a closed loop for determining an input to the real system model from the state quantity of the controlled object model and the operation command pattern To output to the storage means,
A program for running   A control apparatus comprising a memory in which the program according to claim 8 is stored. Including a controlled object model obtained by modeling a controlled object, and forming a real system model in which at least a part of the actual system is modeled;
A procedure for generating an operation command pattern in the real system model;
Time series data input to a pattern generator for generating an ideal control input in the real system while formulating a closed loop for determining an input to the real system model from the state quantity of the controlled object model and the operation command pattern To output to the storage means,
A simulator control method comprising:

Images