| 摘要 |
The present invention addresses the problem of providing a power assist system capable of predicting a future state quantity from inputted present operation torque. A power assist system (1) is provided with: a first model predictive control system comprising an amplification circuit, a present deviation generation circuit, a set value trajectory generation circuit, an error generation circuit, a reference trajectory generation circuit, a tracking error generation circuit, a change value generation circuit, a first integration circuit, an internal model, a total change value generation circuit, a first sample hold circuit, a total state quantity generation circuit, and a state quantity generation circuit; and a second model predictive control system (S) comprising a controller (45) which generates a pre-restriction control input value (44), a limiter (47) which generates a post-restriction control input value (46), a slider (2) which generates an actual output value (48), and an internal model (50) of an object to be controlled, the internal model generating an internal model output value (49). |
