| 摘要 |
A prediction control apparatus for a robot and a machine tool in which a future target value has already been known and which enables a robot and a machine tool to follow up a target command at a high speed and with a high accuracy without requiring a learning step. This apparatus prediction determines a control input which is outputted at every predetermined sampling cycle to an object to be controlled so that an output from the object to be controlled agree with a target command in such a manner that a future deviation predictor determined on the basis of a model of the object to be controlled becomes minimal. The apparatus consists of: (a) means for inputting outputs of a future target command and an object to be controlled, (b) means for storing a future target command, a prediction control constant and a past control input, (c) means for determining a follow-up deviation on the basis of the difference between a target command and an output from the object to be controlled, and (d) means for computing a control input, which is outputted to the object to be controlled, on the basis of a future target command, an output of the object to be controlled, a past control input, a deviation and a model of the object to be controlled, in such a manner that an evaluation function including weighted square sum of a predicted value of a future deviation becomes minimal. <IMAGE> |
