Model Predictive Control Device for Motion Interference Compensation
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Solution Overview
Problem
Conventional technologies face high operation loads in inferring and compensating for shaping interference in motion control, requiring separate processing for converting interference changes into operating quantities.
Innovation Solution
A model predictive control device that uses a controlled object model to predict controlled quantities, computing model predictive errors and correcting predictive values without inferring equivalent operating quantities, thereby simplifying interference compensation processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional interference compensation methods are used to infer operating quantities equivalent to interference changes, then interference compensation can be achieved, but operation load increases due to separate processing requirements
Solution Approach 1:
The patent merges the interference compensation processing with the model predictive control processing into a unified operation. The predictive value correcting part integrates interference compensation directly into the predictive control calculation, eliminating the need for separate interference inference and compensation operations. This combining approach maintains compensation accuracy while reducing overall operation load.
Solution Approach 2:
The model predictive control device performs multiple functions through a single operation: it simultaneously executes motion control prediction and interference compensation. The predictive value correcting part serves both to correct predictive values based on model errors and to compensate for interference effects, making the system more versatile and reducing the number of separate processing operations needed.
2Reliability
If separate processing is used to convert interference changes into operating quantities for compensation, then interference can be compensated, but processing complexity increases
Solution Approach 1:
The patent combines interference compensation with model predictive control into a single integrated operation. The predictive value correcting part performs both the predictive control calculation and the interference compensation simultaneously, eliminating the need for separate processing steps to convert interference changes into operating quantities. This integration simplifies the overall processing while maintaining compensation effectiveness.
3Ease of operation
If model predictive error is computed and used to correct predictive values, then interference compensation is simplified, but computation time may increase
Solution Approach 1:
The patent computes the model predictive error continuously during the model predictive control operation and immediately uses it to correct predictive values in subsequent cycles. This continuous computation and correction approach eliminates idle time between error calculation and application, ensuring that the simplification benefits are realized without significant time loss. The error computation is performed as part of the normal control loop operation.
Data Source
AI summary
The present invention simplifies the processing for compensating an influence for a controlled quantity generated from shaping interference in motion control. A controller (10) as a model predictive control device computes an error between an actually measured value of a controlled quantity in a certain action cycle when shaping interfering is applied and a predictive value of the controlled quantity in the certain action cycle, i.e., the model predictive error, and corrects the predictive value in the action cycle after the certain action cycle by using the computed model predictive error.