WO1995002854A1 - Controleur predictif - Google Patents
Controleur predictif Download PDFInfo
- Publication number
- WO1995002854A1 WO1995002854A1 PCT/JP1994/001137 JP9401137W WO9502854A1 WO 1995002854 A1 WO1995002854 A1 WO 1995002854A1 JP 9401137 W JP9401137 W JP 9401137W WO 9502854 A1 WO9502854 A1 WO 9502854A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- output
- control
- increased
- controlled system
- target command
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/026—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system using a predictor
Definitions
- the present invention relates to a fiber control device such as a pm robot.
- Fiber control techniques include the one that was originally introduced in W3-2038888 (Heisei 5-27). This technique samples the first few steps of a control step, and then controls ⁇ ⁇ so that the increase is reduced by a model approximating that the increase is decremented. .
- the step response of the control is #, and the fe Bi number model of »3 ⁇ 4m is used, and the step is calculated by simulation.
- the step is not the power that can be considered, and it takes time.
- Gp (z) O z - 1 Bok 43 ⁇ 4 Nb z - Nb) I ⁇ (1-z- 1 Xl-aiz- 1 - ... -a N, z _ N ') ⁇ eyes the output of a is system ⁇ i At ii, the target command of the M sampling thread, ⁇ ⁇ ⁇ ( ⁇ + ⁇ ), and the output of the ⁇ ( ⁇ ) sunblink control, y (i ⁇ K) , The control ⁇ ( ⁇ is output to the control m.
- FIG. 11 is a diagram showing an example of the pot invention.
- V- ⁇ + ⁇ ,..., M, p 0, ⁇ , PN »-1 t £ l *, ⁇ 't memory that stores ⁇ b + K-1, 4 is the output memory y ( iK), '", memory that records IT y (iKN, + l), and memory that records 5 ⁇ ⁇ 3 ⁇ 4 control ⁇ ( ⁇ - ⁇ ),- ⁇ -, v (iKN b +1) 7 is ⁇ ! Which finds the difference between the eye ft stored in memory 2 and the output it ⁇ i Ay (i-) e (i_K) ⁇ ! E (i-) is obtained from Ae (iK).
- the control A3 ⁇ 4v (i) is calculated using the crane.
- the calculated v (i) is stored in the memory 5 and output to the control as an output of the preview control device 1.
- Equation (1) is derived.
- Gp (z) (b, z- 1 bets ⁇ + 1) ⁇ 1> ⁇ away ⁇ system "Nb) / ⁇ (1- z- 1 Xl-az" 1 --a Kt z- N ') ⁇
- the input and output ⁇ ! Model becomes a pirate.
- the output increment value reduction amount y * (i + m) is as follows.
- Equation (1) is expressed as follows using the control increase ⁇ .
- v (i) SvnArCi + n -SPnAyCi-K-i + EeCi-)
- the present invention is, u -. M can either be utilized for the control of a robot or the like c
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP94919892A EP0709754B1 (en) | 1993-07-14 | 1994-07-12 | Prediction controller |
US08/571,844 US5726878A (en) | 1993-07-14 | 1994-07-12 | Prediction controller |
DE69429663T DE69429663T2 (de) | 1993-07-14 | 1994-07-12 | Prädiktive steuerung |
KR1019960700102A KR100342788B1 (ko) | 1993-07-14 | 1994-07-12 | 예견제어방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19795693A JP3175877B2 (ja) | 1993-07-14 | 1993-07-14 | 予見制御装置 |
JP5/197956 | 1993-07-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995002854A1 true WO1995002854A1 (fr) | 1995-01-26 |
Family
ID=16383113
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/001137 WO1995002854A1 (fr) | 1993-07-14 | 1994-07-12 | Controleur predictif |
Country Status (6)
Country | Link |
---|---|
US (1) | US5726878A (ja) |
EP (1) | EP0709754B1 (ja) |
JP (1) | JP3175877B2 (ja) |
KR (1) | KR100342788B1 (ja) |
DE (1) | DE69429663T2 (ja) |
WO (1) | WO1995002854A1 (ja) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1998025191A1 (fr) | 1996-12-04 | 1998-06-11 | Kabushiki Kaisha Yaskawa Denki | Controleur synchrone |
JP3666578B2 (ja) * | 2000-08-18 | 2005-06-29 | 株式会社安川電機 | 予測制御装置 |
US6604383B2 (en) * | 2001-04-10 | 2003-08-12 | Emhart Glass, S.A. | Control for an I.S. machine |
US6604386B2 (en) * | 2001-04-10 | 2003-08-12 | Emhart Glass, S.A. | Control for an I.S. machine |
US6604385B2 (en) * | 2001-04-10 | 2003-08-12 | Emhart Glass, S.A. | Control for an I.S. machine |
US6711916B2 (en) * | 2001-04-10 | 2004-03-30 | Emhart Glass S.A. | Control for an I.S. machine |
US6604384B2 (en) * | 2001-04-10 | 2003-08-12 | Emhart Glass, S.A. | Control for an I.S. machine |
US6606886B2 (en) * | 2001-04-10 | 2003-08-19 | Emhart Glass, S.A. | Control for an I.S. machine |
US6705119B2 (en) * | 2001-04-10 | 2004-03-16 | Emhart Glass S.A. | Control for an I. S. machine |
US6705120B2 (en) * | 2001-04-10 | 2004-03-16 | Emhart Glass S.A. | Control for an I.S. machine |
US6722158B2 (en) * | 2001-04-10 | 2004-04-20 | Emhart Glass S.A. | Control for an I.S. machine |
JP2003122402A (ja) * | 2001-10-09 | 2003-04-25 | Yaskawa Electric Corp | サーボ制御装置の制御方法 |
JP2004264979A (ja) * | 2003-02-28 | 2004-09-24 | Yaskawa Electric Corp | サーボ制御装置 |
JP4605612B2 (ja) * | 2008-10-31 | 2011-01-05 | 本田技研工業株式会社 | 予見制御を用いてプラントを制御する装置 |
CN101833284B (zh) * | 2010-05-28 | 2011-07-27 | 上海交通大学 | 实时磁滞逆模型对系统进行补偿实现的方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62118406A (ja) * | 1985-11-19 | 1987-05-29 | Yaskawa Electric Mfg Co Ltd | 未来目標値と過去の操作量及び試行時の偏差の情報を用いる制御方式 |
JPH0535309A (ja) * | 1991-07-30 | 1993-02-12 | Toshiba Corp | モデル予測制御装置 |
JPH05165504A (ja) * | 1991-12-18 | 1993-07-02 | Yaskawa Electric Corp | 増分値演算による学習制御方式 |
JPH05173602A (ja) * | 1991-12-21 | 1993-07-13 | Toshiba Corp | 適応型モデル予測制御装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
MX153641A (es) * | 1983-05-19 | 1986-10-14 | Vitro Tec Fideicomiso | Mejoras en controlador automatico para maquinas formadoras de articulos de vidrio |
DE3884992T2 (de) * | 1987-04-30 | 1994-05-19 | Nec Corp | Bildverarbeitungssystem für eine Folge kodierter Signale, die einer Prädiktionskodierung verschiedener Arten unterworfen sind. |
JPH0527829A (ja) * | 1991-07-17 | 1993-02-05 | Yaskawa Electric Corp | 予見制御方式 |
EP0587897B1 (en) * | 1992-03-31 | 1999-07-14 | Kabushiki Kaisha Yaskawa Denki | Predictive control apparatus |
US5369345A (en) * | 1992-03-31 | 1994-11-29 | Seagate Technology, Inc. | Method and apparatus for adaptive control |
US5463746A (en) * | 1992-10-30 | 1995-10-31 | International Business Machines Corp. | Data processing system having prediction by using an embedded guess bit of remapped and compressed opcodes |
-
1993
- 1993-07-14 JP JP19795693A patent/JP3175877B2/ja not_active Expired - Fee Related
-
1994
- 1994-07-12 EP EP94919892A patent/EP0709754B1/en not_active Expired - Lifetime
- 1994-07-12 KR KR1019960700102A patent/KR100342788B1/ko not_active IP Right Cessation
- 1994-07-12 US US08/571,844 patent/US5726878A/en not_active Expired - Lifetime
- 1994-07-12 DE DE69429663T patent/DE69429663T2/de not_active Expired - Lifetime
- 1994-07-12 WO PCT/JP1994/001137 patent/WO1995002854A1/ja active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62118406A (ja) * | 1985-11-19 | 1987-05-29 | Yaskawa Electric Mfg Co Ltd | 未来目標値と過去の操作量及び試行時の偏差の情報を用いる制御方式 |
JPH0535309A (ja) * | 1991-07-30 | 1993-02-12 | Toshiba Corp | モデル予測制御装置 |
JPH05165504A (ja) * | 1991-12-18 | 1993-07-02 | Yaskawa Electric Corp | 増分値演算による学習制御方式 |
JPH05173602A (ja) * | 1991-12-21 | 1993-07-13 | Toshiba Corp | 適応型モデル予測制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0709754A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP0709754A1 (en) | 1996-05-01 |
US5726878A (en) | 1998-03-10 |
EP0709754B1 (en) | 2002-01-16 |
KR960704257A (ko) | 1996-08-31 |
EP0709754A4 (en) | 1996-09-11 |
JP3175877B2 (ja) | 2001-06-11 |
JPH0728508A (ja) | 1995-01-31 |
DE69429663T2 (de) | 2002-11-14 |
KR100342788B1 (ko) | 2002-11-23 |
DE69429663D1 (de) | 2002-02-21 |
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