# US 12,602,019 B2 · Computational model of reference response profile > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,602,019 B2 - Document ID: US12602019B2 - Status: Granted - Kind: B2 - Application number: 18/173,781 - Filed: 2023-02-24 - Published: 2023-06-22 - Granted: 2026-04-14 - Earliest claimed: 2020-08-31 - Applicants: The University of Tokyo; Kabushiki Kaisha Yaskawa Denki - Inventors: Hiroshi Fujimoto; Ryohei Kitayoshi - Web page: https://patentgrep.com/patent/US12602019B2 ## CPC - G05B 13/042: {in which a parameter or coefficient is automatically adjusted to optimise the performance} - B25J 9/10: characterised by positioning means for manipulator elements - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A control system includes a storage that stores a computational model of a reference response profile representing a frequency characteristic of a reference state of a control target corresponding to a first command, and circuitry configured to calculate a first actual response profile representing a frequency characteristic of an actual state of the control target having responded to the first command. The circuitry is further configured to acquire an error between the reference response profile and the first actual response profile, and cause a controller to output, to the control target, a second command that is based on a frequency at which the error is greater than a threshold. Additionally, the circuitry is configured to calculate a second actual response profile representing a frequency characteristic of an actual state of the control target having responded to the second command, and update the computational model based on the second actual response profile and the reference response profile. ## Claims ### Claim 1 A control system comprising: a controller configured to output a command to a control target; a storage configured to store a computational model of a reference response profile representing, as a reference frequency characteristic, a frequency characteristic of a reference state of the control target corresponding to a first command; and circuitry configured to: calculate a first actual response profile representing, as a first frequency characteristic, a frequency characteristic of a first actual state of the control target having responded to the first command; acquire an error between the reference response profile and the first actual response profile; set, as an identification range, a limited band that is part of a frequency band of the first actual response profile and includes a frequency corresponding to the error; cause the controller to output, to the control target, a second command that is based on a frequency at which the error is greater than a predetermined threshold, wherein the second command is based further on a frequency component within the identification range; calculate a second actual response profile representing, as a second frequency characteristic, a frequency characteristic of a second actual state of the control target having responded to the second command; replace a part of the reference response profile corresponding to the identification range with the second actual response profile to update the reference response profile; and execute a fitting operation based on the updated reference response profile to update the computational model. ### Claim 2 (depends on 1) The control system according to claim 1, wherein the circuitry is configured to cause the controller to output the second command formed by the frequency component within the identification range to the control target. ### Claim 3 (depends on 1) The control system according to claim 1, wherein the circuitry is configured to: calculate a spectral difference at each frequency, the spectral difference being a difference in spectral component between the reference response profile and the first actual response profile; and acquire a set of the spectral difference as the error. ### Claim 4 (depends on 3) The control system according to claim 3, wherein the circuitry is configured to identify a frequency in which the spectral difference is largest as a frequency corresponding to the error. ### Claim 5 (depends on 3) The control system according to claim 3, wherein the circuitry is configured to set, as the identification range, a range which is part of a frequency band of the first actual response profile and includes a frequency corresponding to the error, and wherein the spectral difference continues to exceed a predetermined threshold in the identification range. ### Claim 6 (depends on 1) The control system according to claim 1, wherein the circuitry is configured to replace a spectral component of the identification range in the reference response profile with a spectral component indicated by the second actual response profile to update the reference response profile. ### Claim 7 (depends on 1) The control system according to claim 1, wherein the circuitry is configured to generate the computational model in which the reference frequency characteristic is fitted to a gain profile based on the updated reference response profile. ### Claim 8 (depends on 1) The control system according to claim 1, wherein the circuitry is configured to: recalculate, based on the updated computational model, a control parameter that defines a relationship between the command and an amount of control for causing the control target to follow the command; and cause the controller to output a new command based on the recalculated control parameter to the control target. ### Claim 9 (depends on 8) The control system according to claim 8, wherein the circuitry is configured to execute an H-infinity control theory and a corresponding optimization calculation on the updated computational model to recalculate the control parameter. ### Claim 10 (depends on 9) The control system according to claim 9, wherein the circuitry is configured to execute the optimization calculation according to a restraint condition including one or both of an operation time of the control target and an allowable error related to an operation of the control target. ### Claim 11 (depends on 9) The control system according to claim 9, wherein the circuitry is configured to use linear matrix inequality as the optimization calculation. ### Claim 12 (depends on 8) The control system according to claim 8, wherein the circuitry is configured to recalculate gain in cascade control, as the recalculation of the control parameter. ### Claim 13 (depends on 8) The control system according to claim 8, wherein the circuitry is configured to repeatedly execute a process including the output of the second command, the update of the computational model, the recalculation of the control parameter, and the output of the new command, until the error corresponding to the new command becomes equal to or less than the threshold. ### Claim 14 (depends on 1) The control system according to claim 1, wherein the storage is configured to store the computational model of the reference response profile representing a frequency characteristic of an actual state at a first time point of the control target corresponding to the first command, as the reference frequency characteristic, and wherein the circuitry is configured to acquire an error between the reference response profile and the first actual response profile at a second time point later than the first time point. ### Claim 15 (depends on 1) The control system according to claim 1, wherein the storage is configured to store the computational model of the reference response profile representing a frequency characteristic of a virtual state of the control target corresponding to the first command, as the reference frequency characteristic, and wherein the circuitry is configured to acquire an error between the reference response profile and the first actual response profile. ### Claim 16 (depends on 1) The control system according to claim 1, wherein the control target comprises a driven object and a motor that drives the driven object, and wherein each of the first command and the second command relates to a driving force generated by the motor, and wherein each of the reference state, the first actual state, and the second actual state of the control target indicates one or both of a position and a velocity of the driven object. ### Claim 17 A control method executable by a control system including a controller configured to output a command to a control target, the method comprising: storing, into a storage, a computational model of a reference response profile representing, as a reference frequency characteristic, a frequency characteristic of a reference state of the control target corresponding to a first command; calculating a first actual response profile representing, as a first frequency characteristic, a frequency characteristic of a first actual state of the control target having responded to the first command; acquiring an error between the reference response profile and the first actual response profile; setting, as an identification range, a limited band that is part of a frequency band of the first actual response profile and includes a frequency corresponding to the error; causing the controller to output, to the control target, a second command that is based on a frequency at which the error is greater than a predetermined threshold, wherein the second command is based further on a frequency component within the identification range; calculating a second actual response profile representing, as a second frequency characteristic, a frequency characteristic of a second actual state of the control target having responded to the second command; replacing a part of the reference response profile corresponding to the identification range with the second actual response profile to update the reference response profile; and executing a fitting operation based on the updated reference response profile to update the computational model. ### Claim 18 A non-transitory computer-readable storage medium storing processor-executable instructions to: store, into a storage, a computational model of a reference response profile representing, as a reference frequency characteristic, a frequency characteristic of a reference state of a control target corresponding to a first command; calculate a first actual response profile representing, as a first frequency characteristic, a frequency characteristic of a first actual state of the control target having responded to the first command; acquire an error between the reference response profile and the first actual response profile; set, as an identification range, a limited band that is part of a frequency band of the first actual response profile and includes a frequency corresponding to the error; cause a controller to output, to the control target, a second command that is based on a frequency at which the error is greater than a predetermined threshold, wherein the second command is based further on a frequency component within the identification range; calculate a second actual response profile representing, as a second frequency characteristic, a frequency characteristic of a second actual state of the control target having responded to the second command; replace a part of the reference response profile corresponding to the identification range with the second actual response profile to update the reference response profile; and execute a fitting operation based on the updated reference response profile to update the computational model.