CONTROL DEVICE

• US 20180231943A1
• Filed: 10/31/2016
• Published: 08/16/2018
• Est. Priority Date: 11/30/2015
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Omron Corporation
• Inventors: NAMIE, Masaki, KOMATSU, Masakazu, MANABE, Mikiko
• Granted Patent: US 10,571,874 B2
• Time in Patent Office: Days
• CPC Class Codes: G05B 13/0265 the criterion being a learning criterion
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G06N 20/00 Machine learning

Abstract

A control device (100) for controlling a control subject (2), said control device being equipped with: an instruction value generation part (20) that calculates an instruction value from an instruction pattern; a learning control part (30) that repeatedly calculates correction data containing a correction value for correcting the instruction value calculated from the instruction pattern; and a control part (10) that calculates a corrected instruction value from the instruction value and the correction data, and transmits the corrected instruction value to the control subject. The learning control part (30) generates the correction data from a response delay characteristic of the control subject, and the deviation between a feedback value for the corrected instruction value that has been output for the control subject and the instruction value that has been calculated by the instruction value generation part (20).

Claims

1. A control device that controls a control subject, comprising:

an instruction value generation part that calculates an instruction value from an instruction pattern;

a leaning control part that repeatedly calculates correction data including a correction value for correcting the instruction value calculated from the instruction pattern; and

a control part that calculates a corrected instruction value from the instruction value and the correction data and transmits the corrected instruction value to the control subject,

wherein the learning control part generates the correction data from a deviation between a feedback value with respect to the corrected instruction value output to the control subject and the instruction value computed by the instruction value generation part and a response delay characteristic of the control subject.

2. The control device according to claim 1, further comprising:

a characteristic measurement instruction value generation part; and

a correction shift time calculation part that calculates a correction shift time to be used by the learning control part to perform learning control,

wherein the correction shift time calculation part acquires a feedback value with respect to a characteristic measurement instruction value generated by the characteristic measurement instruction value generation part and calculates the correction shift time by comparing the characteristic measurement instruction value and the feedback value.

3. The control device according to claim 2, wherein the characteristic measurement instruction value is a short pulse of a unit time width.

4. The control device according to claim 2, wherein the characteristic measurement instruction value is in a step function, and the correction shift time calculation part calculates the correction shift time by calculating a step response.

5. The control device according to claim 2, wherein the characteristic measurement instruction value is in a ramp function, and the correction shift time calculation part calculates the step response from a ramp response and calculates the correction shift time from the step response.

6. The control device according to claim 2, wherein the correction shift time is a real number calculated from the response delay characteristic of the control subject.

7. The control device according to claim 3, wherein the correction shift time is a real number calculated from the response delay characteristic of the control subject.

8. The control device according to claim 4, wherein the correction shift time is a real number calculated from the response delay characteristic of the control subject.