-
公开(公告)号：US11586162B2
公开(公告)日：2023-02-21
申请号：US16668139
申请日：2019-10-30
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
Abstract: An aspect of this specification discloses a method of, based on a control input to a controlled object and on a control output from the controlled object, updating a value of a parameter in an estimator configured to estimate external force that acts on the controlled object. The method includes: determining whether the controlled object is in a particular state in which external force that acts on the controlled object is known; during a period in which it is determined that the controlled object is in the particular state, calculating, as a learning value, the value of the parameter that reduces an error between the known external force and estimated external force, the estimated external force being estimated by the estimator based on the control input and the control output;
and updating the value of the parameter in the estimator with the calculated learning value.-
公开(公告)号：US10885144B2
公开(公告)日：2021-01-05
申请号：US16581860
申请日：2019-09-25
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
Abstract: There is provided a method of updating a setting value of a variable parameter, the method including: obtaining a time-series data of control input and a time-series data of control output observed in control with a controller; calculating a value of the variable parameter which minimizes an output value of an evaluation function based on the obtained time-series data of the control input and the control output; and updating the setting value of the variable parameter to the calculated value of the variable parameter. The evaluation function includes a first function part in which a first norm or a second norm changes depending on the value of the variable parameter, and a second function part of which specific frequency band has an amount, by which the output value of the evaluation function is increased, larger than that of any other frequency band.
-
3.发明申请公开(公告)号：US20170090444A1
公开(公告)日：2017-03-30
申请号：US15279981
申请日：2016-09-29
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
Abstract: There is provided a method of updating a setting value of a variable parameter, the method including: obtaining a time-series data of control input and a time-series data of control output observed in control with a controller; calculating a value of the variable parameter which minimizes an output value of an evaluation function based on the obtained time-series data of the control input and the control output; and updating the setting value of the variable parameter to the calculated value of the variable parameter. The evaluation function includes a first function part in which a first norm or a second norm changes depending on the value of the variable parameter, and a second function part of which specific frequency band has an amount, by which the output value of the evaluation function is increased, larger than that of any other frequency band.
-
公开(公告)号：US12168347B2
公开(公告)日：2024-12-17
申请号：US17705490
申请日：2022-03-28
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Satoru Arakane , Masahiro Hoga , Shohei Ichikawa , Eisuke Takahashi
Abstract: In a control system, a controller is configured to determine presence or absence of an obstructed area within the intermediate section, and control movement of the moving body in accordance with a selected one of controlling methods including a first and a second control methods. The first control method causes the moving body to move at a first constant speed in the processing section defined within the intermediate section and at a second constant speed faster than the first constant speed in at least a part of a non-processing section within the intermediate section and other than the processing section, the first control method being selected when the obstructed area is absent. The second control method causes the moving body to move at the first constant speed in the processing section and the non-processing section, the second control method being selected when the obstructed area is present.
-
5.发明申请公开(公告)号：US20200019586A1
公开(公告)日：2020-01-16
申请号：US16581860
申请日：2019-09-25
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
IPC: G06F17/11
Abstract: There is provided a method of updating a setting value of a variable parameter, the method including: obtaining a time-series data of control input and a time-series data of control output observed in control with a controller; calculating a value of the variable parameter which minimizes an output value of an evaluation function based on the obtained time-series data of the control input and the control output; and updating the setting value of the variable parameter to the calculated value of the variable parameter. The evaluation function includes a first function part in which a first norm or a second norm changes depending on the value of the variable parameter, and a second function part of which specific frequency band has an amount, by which the output value of the evaluation function is increased, larger than that of any other frequency band.
-
Patent Agency Ranking
公开(公告)号：US11449031B2
公开(公告)日：2022-09-20
申请号：US16168183
申请日：2018-10-23
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
IPC: G05B19/414 , G05B19/416 , G05B19/404
Abstract: A method includes: acquiring time-series data of a control input and a control output; calculating a variable parameter that minimizes an evaluation function, based on observation values of the control input and the control output; and updating the variable parameter with the calculated variable parameter. The evaluation function includes: a first function part that evaluates an entire error that is a control error of the entire observation period and increases the output value as the entire error increases; and at least one of: a second function part that evaluates a sectional error that is a control error of a particular section in the observation period and increases the output value as the sectional error increases; and a third function part that evaluates an instantaneous error that is a control error of a particular time point in the observation period and increases the output value as the instantaneous error increases.
-
公开(公告)号：US20190303767A1
公开(公告)日：2019-10-03
申请号：US16284245
申请日：2019-02-25
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
Abstract: A prediction method includes: acquiring time-series data of sets of a control input um and a control output ym as a sample of a control input u and a control output y; calculating, based on the time-series data, a value ρ* that minimizes a value of an evaluation function J(ρ,θ,um,ym) in a state where a parameter θ is set to a fixed value θ0, calculating a value θ* that minimizes the evaluation function J(ρ,θ,um,ym) in a state where a parameter ρ is set to the value ρ*; and calculating a prediction value up of the control input u and a prediction value yp of the control output y corresponding to a desired value r, based on a transfer function C(ρ*) in which the parameter ρ is set to the value ρ* and on a target response transfer function Td(θ*) in which the parameter θ is set to the value θ*.
-
公开(公告)号：US09340046B2
公开(公告)日：2016-05-17
申请号：US14867771
申请日：2015-09-28
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
CPC classification number: B41J13/0009 , B41J23/025 , F16H1/22
Abstract: A drive device includes: connection gears connected to driving objects; a movable gear movable between the connection gears; a drive source for rotating the movable gear; and at least one estimator each provided for a corresponding one of at least one of the connection gears and configured to: estimate a reaction-force estimate value, as an estimate value of a reaction force acting in a power transmission system from the drive source to the driving object, based on control input, control output, and a model of the power transmission system; and output the reaction-force estimate value. The model is configured such that the reaction-force estimate value falls within a set range in a state in which the movable gear is meshed with the connection gear. A controller detects mesh and/or separation between the movable gear and the at least one connection gear based on the reaction-force estimate value.
Abstract translation: 驱动装置包括：与驱动物体连接的连接齿轮; 可移动的齿轮在连接齿轮之间移动; 用于旋转可移动齿轮的驱动源; 以及至少一个估计器，每个至少一个估计器被提供用于连接齿轮中的至少一个连接齿轮中的对应的一个，并被配置为：将反作用力估计值估计为作用在动力传动系统中的反作用力从驱动源到 驱动对象，基于控制输入，控制输出和动力传动系统的型号; 并输出反作用力估计值。 该模型被配置为使得反作用力估计值在可动齿轮与连接齿轮啮合的状态下落在设定范围内。 控制器基于反作用力估计值来检测可动齿轮与至少一个连接齿轮之间的啮合和/或分离。
-
公开(公告)号：US11813857B2
公开(公告)日：2023-11-14
申请号：US17678618
申请日：2022-02-23
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi , Sachie Kiriyama
CPC classification number: B41J19/202 , B41J25/005 , B41J19/207
Abstract: There is provided control system including: movement mechanism configured so that the movement mechanism is driven by motor; detector configured to detect position and speed of the movable member; and controller. The controller is configured to: control the motor so that the movement mechanism reciprocatively moves the movable member; and in a course to move the movable member to a returning point, control the movement of the movable member by controlling the motor based on the speed of the movable member so that the movable member is moved at a constant speed until a deceleration start point of time, and control the movement of the movable member by controlling the motor based on the position of the movable member so that the movable member is decelerated from the deceleration start point of time and stops at the returning point in accordance with a target position locus.
-
公开(公告)号：US11423316B2
公开(公告)日：2022-08-23
申请号：US16284245
申请日：2019-02-25
Applicant: BROTHER KOGYO KABUSHIKI KAISHA
Inventor： Eisuke Takahashi
Abstract: A prediction method includes: acquiring time-series data of sets of a control input um and a control output ym as a sample of a control input u and a control output y; calculating, based on the time-series data, a value ρ* that minimizes a value of an evaluation function J(ρ,θ,um,ym) in a state where a parameter θ is set to a fixed value θ0, calculating a value θ* that minimizes the evaluation function J(ρ,θ,um,ym) in a state where a parameter ρ is set to the value ρ*; and calculating a prediction value up of the control input u and a prediction value yp of the control output y corresponding to a desired value r, based on a transfer function C(ρ*) in which the parameter ρ is set to the value ρ* and on a target response transfer function Td(θ*) in which the parameter θ is set to the value θ*.
-
-
-
-
-
-
-
-
-
Search Results
14
records
(took 0.019 seconds)
