Profile generation apparatus, control method for profile generation apparatus, control program, and storage medium
AssigneeOMRON Corporation
InventorTatsuya KOGA
Life of this patent
Estimating the term…
Abstract
A velocity profile is calculated to have a lower power peak or a lower torque peak and to allow a control target to reach a predetermined position within an intended time. An input reception unit receives a designated drive time. A profiling unit generates an input profile including a leading edge portion, a flat portion, and a trailing edge portion calculated based on the principle of least action.
Claims10
A profile generation apparatus for generating an input profile used in controlling a machine, the apparatus comprising:
- an input reception unit configured to receive input of a designated drive time from a user, the designated drive time being a time taken by a control target to move to a predetermined position;
- a profile calculation unit configured to calculate a calculation profile including a leading edge portion, a flat portion, and a trailing edge portion, the calculation profile being determined based on a principle of least action to minimize a total torque or a total power used to control the control target or to reduce the total torque and the total power, the calculation profile causing a velocity to be zero when the designated drive time received by the input reception unit passes;
- and
- a profile generation unit configured to generate, as the input profile, a velocity profile indicating a relationship between a velocity of the control target and a time based on the calculation profile calculated by the profile calculation unit.
A control method for a profile generation apparatus that generates an input profile used in controlling a machine, the control method comprising:
- receiving input of a designated drive time from a user, the designated drive time being a time taken by a control target to move to a predetermined position;
- calculating a calculation profile including a leading edge portion, a flat portion, and a trailing edge portion, the calculation profile being determined based on a principle of least action to minimize a total torque or a total power used to control the control target or to reduce the total torque and the total power, the calculation profile causing a velocity to be zero when the designated drive time received in the step of receiving the input passes;
- and
- generating, as the input profile, a velocity profile indicating a relationship between a velocity of the control target and a time based on the calculation profile calculated in the step of calculating the profile.
Dependencies are inferred from the claim text.