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.
Claims5
A control device that controls a controlled object, comprising:
- a controller that calculates a control input to eliminate an error between a target output and a control output which is output from the controlled object;
- a static compensator that calculates, on the basis of a static parameter and the control input, a static compensatory input to compensate a fluctuation in static characteristics of the controlled object;
- a dynamic compensator that calculates, on the basis of a dynamic parameter and the control output, a dynamic compensatory input to compensate a fluctuation in dynamic characteristics of the controlled object;
- a synthesizer that calculates an actual input by synthesizing the static compensatory input and the dynamic compensatory input, and inputs the calculated actual input to the controlled object;
- an ideal output calculator that calculates 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 that adjusts each of the static parameter and the dynamic parameter to minimize a difference between the control output and the ideal output.
Dependencies are inferred from the claim text.