Control device
AssigneesHiroshima University, Kobelco Construction Machinery Co., Ltd.
InventorsShin Wakitani, Toru Yamamoto
Life of this patent
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Abstract
A control device includes: a static compensator that calculates, on the basis of a static parameter, a static compensatory input; a dynamic compensator that calculates, on the basis of a dynamic parameter, a dynamic compensatory input; a subtractor that calculates an actual input by synthesizing the static compensatory input and the dynamic compensatory input; an ideal output calculator that calculates an ideal output responsive to a control input by using an input and output model defining an ideal input and output relation between a control input and a control output; and a parameter adjuster that adjusts the static parameter and the dynamic parameter to minimize a difference between the control output and the ideal output.
Claims2
A control device that controls a controlled object, comprising:
- control circuitry configured to calculate a control input to eliminate an error between a target output and a control output which that is output from the controlled object;
- a static compensator circuit configured to calculate a static compensatory input to compensate for a fluctuation in static characteristics of the controlled object by multiplying the control input by a static gain;
- a dynamic compensator circuit configured to calculate, as a dynamic compensatory input a sum of a value obtained by multiplying the control output by a proportional gain and a value obtained by multiplying a differential value of the control output by a derivative gain to compensate for a fluctuation in dynamic characteristics of the controlled object;
- a synthesizer circuit configured to calculate, as an actual input, a value obtained by subtracting the dynamic compensatory input from the static compensatory input, and input the calculated actual input to the controlled object to control the controlled object;
- an ideal output calculator circuit configured to calculate an ideal output responsive to the control input by using an input and output model defining an ideal input and output relation between the control input and the control output;
- and
- a parameter adjuster circuit configured to adjust each of the static gain, the proportional gain, and the derivative gain by using recursive least squares to minimize a difference between the control output and the ideal output.
Dependencies are inferred from the claim text.