Control system, control method, and control program
AssigneeKabushiki Kaisha Yaskawa Denki
InventorRyohei KITAYOSHI
Life of this patent
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Abstract
A control system includes processing circuitry that calculates, based on a control target model that indicates a relationship between an operation of a control target and a friction acting on the control target, a continuous value for compensating for the friction as a feedforward compensation value, generates a command based on the feedforward compensation value, and outputs the command to cause the control target to operate.
Claims20
A control system, comprising:
- processing circuitry configured to calculate, based on a control target model that indicates a relationship between an operation of a control target and a friction acting on the control target, a continuous value for compensating for the friction as a feedforward compensation value, generate a command based on the feedforward compensation value, and output the command to cause the control target to operate.
A control method to be executed by a control system including processing circuitry, comprising:
- calculating, by the processing circuitry of the control system, based on a control target model that indicates a relationship between an operation of a control target and a friction acting on the control target, a continuous value for compensating for the friction as a feedforward compensation value;
- generating, by the processing circuitry of the control system, a command based on the feedforward compensation value;
- and
- outputting, by the processing circuitry of the control system, the command to cause the control target to operate.
A non-transitory computer-readable storage medium including computer executable instructions, wherein the instructions, when executed by a computer, cause the computer to perform a method, the method comprising:
- calculating, based on a control target model that indicates a relationship between an operation of a control target and a friction acting on the control target, a continuous value for compensating for the friction as a feedforward compensation value;
- generating a command based on the feedforward compensation value;
- and
- outputting the command to cause the control target to operate.
Dependencies are inferred from the claim text.