JP2021114014A - Distributed control system, distributed control system controlling method, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably control a control target even when there is no detailed information about a control target and a control device for controlling the control target. A distributed control system is a plurality of agents mounted on a plurality of controlled devices that perform operations for collaborating to achieve a common purpose, and moves the movements of the plurality of controlled devices. It is equipped with a plurality of agents to control and a central control unit that acquires information on observation values for achieving the purpose and sends information on observation values to multiple agents, and the agents relate to movement control with other agents. Without exchanging information, the movement of the controlled device is controlled so as to perform the operation for achieving the purpose by using the information on the observed value acquired from the central control unit. [Selection diagram] Fig. 1

Description

The present invention relates to a distributed control system, a method for controlling a distributed control system, and a computer program.

A system for transporting a controlled object by a plurality of robots is known (see, for example, Patent Document 1). Patent Document 1 discloses a cooperative transfer robot system that estimates an external force applied to a controlled object and calculates a controlled amount for the controlled object using various models. Patent Document 2 discloses a flying object including a thrust generating means for generating a thrust for controlling a position and an attitude. Non-Patent Document 1 discloses a system in which a controlled object is conveyed by a plurality of robots. In this system, the speed of the controlled object is modeled, and the controlled object is controlled using various estimated parameters in a state where the characteristics of the controlled object and the position where multiple robots hold the controlled object are unknown. ..

Japanese Unexamined Patent Publication No. 2015-99524 JP-A-2009-248808

Preston Culbertson, Mac Schwager, "Decentralized Adaptive Control for Collaborative Manipulation", IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018

However, in the technique described in Patent Document 1, various models are used to determine the estimation and control amount of the external force. Therefore, if the parameters of the model used and the actual parameters are different, the control may be significantly affected. Further, in the technique described in Patent Document 2, since centralized control is performed, the control amount of each thrust generating means is determined after all the information such as disturbance is taken in. Therefore, various situation judgments and a function of adjusting control rules according to the judgment results become indispensable, and the calculation load of the system and the number of sensors increase. Further, since the status adjusting method of a method and control law decision can not be set and does not know whether advance what happens, there is a problem in terms of robustness to various characteristics and environmental change. In the technique described in Non-Patent Document 1, in order for the estimated parameter to be close to the actual parameter, the modeled controlled object and the structure of the actual controlled object are very similar, and the variation of the unknown parameter is unknown. Is small. Therefore, it is difficult to control the controlled object by using the technique of Non-Patent Document 1 except in a very simple case or limited conditions. Further, depending on the setting of the gain value of the adjustable parameter, it may take time to converge to an appropriate value or it may diverge. Therefore, it is difficult to reliably operate the control system under various conditions by using the technique described in Non-Patent Document 1.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to stably control a controlled object even when there is no detailed information about a controlled object and a control device for controlling the controlled object. ..

The present invention has been made to solve the above-mentioned problems, and can be realized as the following forms.

(1) According to one embodiment of the present invention, a distributed control system is provided. This distributed control system is a plurality of agents mounted on a plurality of controlled devices that collaborate to perform operations for achieving a common purpose, and controls the movements of the plurality of controlled devices. The agent includes a plurality of agents and a central control unit that acquires information on the observed value for achieving the object and transmits the information on the observed value to the plurality of agents, and the agent operates with the other agents. The movement of the controlled device is controlled so as to perform the operation for achieving the object by using the information on the observed value acquired from the central control unit without exchanging the information on the control of the above.

According to this configuration, the plurality of agents control the movement of the controlled device on which each of the agents is mounted, using the information regarding the observed value transmitted from the central control unit. Each agent cooperates with the controlled device to perform an operation for achieving a common purpose without exchanging information on the movement of the controlled device controlled by each other. That is, the agent indirectly considers the influence of the controlled device controlled by the agent according to the movement of the controlled device controlled by another agent by using the observed value, and the control of the agent is the target. Model the effect as a simple output characteristic. As a result, the agent can control the controlled device even if the information such as the position of another controlled device cannot be accurately grasped. That is, according to this configuration, the object to be controlled can be stably controlled. Further, the plurality of controlled devices are independently controlled by each of the mounted agents. Therefore, even if the characteristics of a certain controlled device or the characteristics of the central control unit itself change, the common purpose is achieved by controlling the other controlled devices. As a result, even if one of the plurality of controlled devices is replaced, it is not necessary to reset the replaced controlled device according to the other controlled devices.

(2) In the distributed control system of the above aspect, the object includes moving an object, and the central control unit is the object when the plurality of controlled devices each apply a force to the object. The error (or command value) with respect to the target is calculated from the amount of change in the state of, and the error is transmitted to the plurality of agents, and the agent calculates the command value using the error and the controlled device. You may control the movement of.
According to this configuration, since the error (or command value) is calculated by the central control unit, the arithmetic processing commonly performed by each agent is performed by the central control unit, so that each agent has each command value. Compared with the case of calculating, the load of the entire distributed control system can be reduced.

(3) In the distributed control system of the above aspect, the central control unit includes a sensor that detects the amount of change in the state of the object when the plurality of controlled devices each apply a force to the object, and the object. An error calculation unit that calculates the command value including the difference decomposed into a plurality of coordinate axes from the difference from the change amount of the state of the object detected by the sensor, and the command calculated by the error calculation unit. The agent has a communication unit that transmits a value to the agent, and the agent uses the positive / negative of the reception unit that receives the command value and the difference that is included in the command value and is decomposed into the predetermined axes. , The agent-side control unit that controls the movement of the controlled device may be provided without using the magnitude of the decomposed difference along the predetermined axis.
According to this configuration, the agent-side control unit decomposes the amount of change in the state of the object acquired via the receiving unit into one or more axes including a predetermined axis. The agent-side control unit controls the movement of the controlled device by using only the positive and negative of the difference without using the magnitude of the difference for the difference decomposed on a predetermined axis. That is, the agent-side control unit determines the output to the controlled device by using only the positive / negative determination result of the difference decomposed into a predetermined axis. As a result, the agent-side control unit does not have to calculate different outputs that change depending on the magnitude of the difference. Therefore, the calculation load is suppressed, and the controlled device is easily controlled.

(4) In the distributed control system of the above aspect, when the difference decomposed on the predetermined axis is positive, the agent side control unit is preset regardless of the magnitude of the difference decomposed on the predetermined axis. The constant is used as the output to the controlled device, and when the difference decomposed into the predetermined axis is zero or less, the difference to the controlled device is sent regardless of the magnitude of the difference decomposed into the predetermined axis. The output may be zero.
According to this configuration, the agent-side control unit uniformly sets the output to the controlled device to zero when the difference decomposed on a predetermined axis is zero or less. Therefore, the control of the controlled device becomes easier.

(5) In the distributed control system of the above aspect, in the agent side control unit, the difference decomposed on the predetermined axis is zero or less, and the magnitude of the difference decomposed on the predetermined axis is less than a predetermined value. In this case, a preset negative constant may be used as an output to the controlled device.
According to this configuration, the agent-side control unit sets the output of the controlled device as a negative constant when the difference decomposed on a predetermined axis is a negative value having a magnitude equal to or greater than a predetermined value. Therefore, when the difference decomposed on a predetermined axis is zero or less, the agent-side control unit switches the output in two ways according to the magnitude of the absolute value, as compared with the case where the output is switched in one way. And the accuracy and responsiveness of control to the object can be improved.

(6) In the distributed control system of the above aspect, the agent prioritizes the decomposed differences in descending order of absolute value, and is the total of the values using the finite number of decomposed differences having the highest priority. It may have an error integration unit that calculates a certain integration error, and a device control unit that controls the movement of the controlled device using the calculated integration error.
According to this configuration, only a finite number of decomposed differences in descending order of priority are used as the differences used for output to the controlled device. That is, the difference having a small influence on the output is not included in the calculation target as the output of the controlled device. As a result, it is possible to reduce the calculation load and suppress the influence of the difference having a low priority on the output of the controlled device.

(7) In the distributed control system of the above aspect, the agent is the sum of the respective values calculated by multiplying each of the decomposed differences by a weight individually set for each decomposed difference. It may have an error integration unit that calculates the integration error, and a device control unit that controls the movement of the controlled device using the calculated integration error.
According to this configuration, each value is calculated by multiplying the decomposed difference by the weight set for each decomposed difference. By changing the weighting, the parameters of the controlled device, which has a large influence on the purpose, can be adjusted so as to have a large influence on the integration error. As a result, the control performance for the difference of high importance can be improved.

(8) In the distributed control system of the above aspect, the agent is the total of each of the decomposed differences calculated by using the difference that is equal to or more than the threshold value individually set for each decomposed difference. It may have an error integration unit that calculates a certain integration error, and a device control unit that controls the movement of the controlled device using the calculated integration error.
According to this configuration, when the decomposed difference is equal to or larger than the threshold value set in advance for each difference, it is included in the calculation target of the integration error. Therefore, by changing the threshold value, it is possible to include the difference having a large influence on the purpose in the integration error, while not including the difference having a small influence in the integration error. As a result, it is possible to reduce the calculation load on the system of this configuration while suppressing the influence on the output of the controlled device.

(9) In the distributed control system of the above aspect, the agent dynamically responds to the error integration unit that calculates the integration error by weighting and ranking the decomposed differences and the integration error obtained by the error integration unit. It has a dynamic error adjustment unit that applies various processing, and a device control unit that controls the movement of the controlled device using the dynamic adjustment error whose phase and gain are adjusted by the dynamic error adjustment unit. May be good.
Each controlled device is indirectly affected by changes in the state of other controlled devices included in the integration error as a change amount with respect to the purpose. According to this configuration, the decomposed differences used to calculate the integration error are not the raw values, but are dynamically processed. Therefore, it is possible to dynamically change the influence of the error between agents and agents, and control with high adaptability to changes in the target and environment, such as responding to differences in responsiveness and changing the operation for each agent. The system can be constructed.

(10) In the distributed control system of the above aspect, the object includes moving an object, and the central control unit is the object when the plurality of controlled devices each apply a force to the object. The amount of change in the state of the object is acquired as information about the observed value and transmitted to the plurality of agents, and the agent controls the movement of the controlled device by using the amount of change in the state of the object. good.
By using the amount of change in the state of the object as information about the observed value, this configuration can be used to move the object to the target location.

(11) In the distributed control system of the above aspect, the central control unit or the agent achieves the object by determining the amount of change in the state of the object when the plurality of controlled devices each apply a force to the object. It may be acquired in advance before the control for the purpose.
According to this configuration, the accuracy of achieving the purpose can be improved by using the control of the controlled device acquired and associated in advance and the amount of change in the state of the object.

The present invention can be realized in various aspects, for example, a control device, a distributed control system, a device and system including these, a control method, and a computer for executing these systems and methods. It can be realized in the form of a program, a server device for distributing the computer program, a non-temporary storage medium for storing the computer program, and the like.

It is a schematic perspective view of the distributed control system as an embodiment of this invention. It is a schematic block diagram of a central control device and one controlled device. It is a flowchart which shows the control method of a distributed control system. It is a graph which shows the time transition of the position change of an object. It is a graph which shows the time transition of the posture change of an object. It is a time transition of each output in the period shown in FIG. It is a time transition of each output in the period shown in FIG. It is a schematic block diagram of the central control device and one controlled device in the 3rd modification of 1st Embodiment. It is a flowchart of the output calculation method in the 3rd modification of 1st Embodiment. It is explanatory drawing of the follow-up performance in the 3rd modification of 1st Embodiment. It is explanatory drawing of the follow-up performance in a comparative example. It is a schematic block diagram of the central control device and one controlled device in the 4th modification of 1st Embodiment. It is a schematic block diagram of the distributed control system of 2nd Embodiment. It is a flowchart of the control method of the distributed control system of 2nd Embodiment.

<First Embodiment>
FIG. 1 is a schematic perspective view of a distributed control system 100 as an embodiment of the present invention. The distributed control system 100 of the first embodiment is a transport system that flies and transports an object OB to be transported to a destination. As shown in FIG. 1, the distributed control system 100 has a central control device (central control unit) 50 attached to the object OB and four controlled devices controlled by using information transmitted from the central control device 50. The devices 10 to 40 are provided. In FIG. 1, the four controlled devices 10 to 40 and the central control device 50 are represented in a simplified manner.

The four controlled devices 10 to 40 have the same configuration and shape. Each of the controlled devices 10 to 40 is fixed at a position where the object OB can be moved to the target, and the position is unknown. Note that FIG. 1 shows the absolute coordinate AC composed of the X-axis, the Y-axis, and the Z-axis, and the relative coordinate RC set in the central control device 50 composed of the x-axis, the y-axis, and the z-axis. It is shown. The Z-axis in the absolute coordinate AC and the z-axis in the relative coordinate RC are axes parallel to each other in the direction of gravity. In this embodiment, the angle around the x-axis is defined as φ, the angle around the y-axis is defined as θ, and the angle around the z-axis is defined as Ψ.

FIG. 2 is a schematic block diagram of the central control device 50 and one controlled device 10. As shown in FIG. 2, the central control device 50 includes a sensor 51 that acquires information on observed values, a first control unit 52 that controls the central control device 50, and a battery 57 of the first control unit 52 and the sensor 51. And have. The sensor 51 is an acceleration sensor and a gyro sensor. Since the central control device 50 is fixed to the object OB, the sensor 51 detects the position (coordinate value) and posture (each angle φ, θ, Ψ) of the object OB in the relative coordinates RC. Hereinafter, the position and orientation of the detected object OB will also be referred to as a state quantity of the object OB.

As shown in FIG. 2, the first control unit 52 includes a CPU (Central Processing Unit) 53, a ROM (Read Only Memory) 55, a RAM (Random Access Memory) 56, and a communication unit 54. .. The communication unit 54 transmits various information to the controlled devices 10 to 40 by performing wireless communication. Further, the communication unit 54 acquires the coordinate value and the posture in the absolute coordinate AC of the destination which is the transport destination of the object OB input from the input unit (for example, a keyboard or mouse) which is not shown. The destination in this embodiment corresponds to a common purpose achieved by the four controlled devices 10 to 40 in cooperation with each other. The coordinate value and posture in the absolute coordinate AC of the destination are also simply called a target value (target). The communication unit 54 broadcasts the state quantity of the object OB from the central control device 50 each time the clock period dT (s) elapses. The communication unit 54 may unicast the state quantity of the object OB from the central control device 50 to the four controlled devices 10 to 40.

The CPU 53 is connected to the ROM 55 and the RAM 56, and functions as a state prediction unit 531 and an error calculation unit 532 by expanding the computer program stored in the ROM 55 into the RAM 56 and executing the program. The state prediction unit 531 calculates the state quantity including the acceleration and the angular velocity in the object OB by using the detected value of the sensor 51. The state prediction unit 531 uses the predicted position (x (t + τ), y (t + τ), z (t + τ)) and the predicted yaw angle (Ψ (Ψ (Ψ)) of the object OB after τ seconds from the time t, which is shown in the following equation (1). Calculate the predicted value of t + τ)).

The error calculation unit 532 uses the predicted value after τ seconds calculated by the state prediction unit 531 and the target value of the object OB acquired via the communication unit 54 to obtain the state quantity and the target value after τ seconds. calculating a prediction error _{(e x, e y, e} z, e Ψ) to as equation (2). Incidentally, the prediction error in the first embodiment _{(e x, e y, e} z, e Ψ) corresponds to the error and the command value for the target. Further, the components contained in the prediction error _{(e x, e y, e} z, e Ψ) ( e.g., "e _x") corresponds to a degraded error along the predetermined axis.

Incidentally, the formula represented by the prediction error in _{(2) (e x, e} y, e z, e Ψ) will errors in the relative coordinate RC. Therefore, the error calculating section 532 executes the coordinate transformation represented by the following formula (3), the absolute target value at the coordinates AC (X _m, Y _m) of the target value in the relative coordinate RC (x _m, y _m) Convert to. Equation (2), the prediction error calculated using _{(3) (e x, e} y, e z, e Ψ) via the communication unit 54 is transmitted to the controlled device 10 to 40.

The controlled device 10 shown in FIG. 2 includes a propeller 13, a motor 12 for rotating the propeller 13, a second control unit (agent) 14 for controlling the controlled device 10, a motor 12, and a second control unit 14. It includes a battery 11. The propeller 13 is rotated by the drive of the motor 12, and the controlled device 10 flies and moves. In FIG. 2, since each of the controlled devices 10 to 40 has the same configuration, only the controlled device 10 will be described, but the central control device 50 will be described below with respect to the controlled devices 20 to 40. The same control as the control for the controlled device 10 is performed.

The second control unit 14 includes a CPU 15, a ROM 17, a RAM 18, a receiving unit 16, and a storage unit 19 composed of a hard disk drive (HDD) and the like. Receiver 16, by performing wireless communication, the prediction error sent from the communication unit 54 of the central control unit _{50 (e x, e y,} e z, e Ψ) to receive. The CPU 15, ROM 17, and RAM 18 correspond to the agent-side control unit.

The CPU 15 is connected to the ROM 17 and the RAM 18, and functions as an error integration unit 151 and a motor control unit (device control unit) 152 by expanding and executing a computer program stored in the ROM 17 in the RAM 18. The error integration unit 151 calculates the _{integration error E i} in consideration of the action of each input on each output, which is expressed by the following equation (4).

In the equation (4), in the present embodiment, the error integration unit 151 reduces the coefficient of action q _{that e j decreases when the output u i} (i = 1, 2, 3, 4: number of controlled devices) is increased. a positive (q _ij = 1) for _ij, as a negative (q _ij = -1) for increased activity coefficients q _ij, calculates an integrated error E _i. That is, the error integrating unit 151 is assigned with a positive and negative elements, such as "e _x" for u _i, regardless of the size of each element, the effect coefficient q _ij of preset constant. The error integrating unit 151, using the weight g _i, is performed ranking the target to be controlled. That is, the error integrating unit 151, each of the elements, such as "e _x", and calculates the integration error E _i are the respective sum of the values obtained by multiplying the weight g _i which is set individually for each element ..

The error integration unit 151 calculates _{the output u i using the calculated integration error E i} and the following equation (5). The motor control unit 152 controls the position and orientation of the object OB by outputting a voltage corresponding _{to the calculated output u i to the motor 12.}

FIG. 3 is a flowchart showing a control method of the distributed control system 100. In the flowchart of FIG. 3, the position (X _i , Y _i , Z _i ) and the yaw angle (Ψ _i ) of each controlled device 10 follow the target values (X _mi , Y _mi , Z _mi , Ψ _mi). The control flow when controlled in this way is shown. As shown in FIG. 3, first, the first control unit 52 acquires the target value in the absolute coordinates AC as the transport destination of the object OB via the communication unit 54 (step S1). The error calculation unit 532 converts the target value in the absolute coordinate AC acquired by using the equation (3) into the target value in the relative coordinate RC (step S2).

The sensor 51 acquires the sensor values of the acceleration sensor and the gyro sensor (step S3). The state prediction unit 531 calculates the state quantity of the object OB (position and posture of the object OB) using the detected value of the sensor 51 (step S4). The error calculation unit 532 uses the state prediction unit 531 to calculate the predicted values (x (t + τ), y (t + τ), z (t + τ)) of the object OB after τ seconds represented by the equation (1), Ψ. (t + tau)) using a prediction error (e _x of the formula _{(2), e y, e} z, e Ψ) is calculated (step S5).

The controlled device 10 to 40 via the receiving unit each comprising, the prediction error _{(e x, e y, e} z, e Ψ) to get (step S6). Although each of the controlled devices 10 to 40 performs the control flow described below, since the control flow of each of the controlled devices 10 to 40 is the same, the control flow performed by the controlled device 10 will be described and controlled. The description of the control flow performed by the control devices 20 to 40 will be omitted.

Error integrating unit 151 of the controlled device 10, the acquired prediction error _{(e x, e y, e} z, e Ψ) is used to calculate an integrated error E _i as shown in equation (4) (step S7) .. Error integrating unit 151 calculates the output u _i represented by the formula (5) using the integrated error E _i calculated, the motor control unit 152 controls the motor 12 using the output u _i (step S8 ).

The error integration unit 151 _{updates the time t 1} to the time obtained by adding the clock period dT (step S9). The error integration unit 151 _{determines whether or not the time t 1} has passed the calculation cycle Tc (s) (step S10). The calculation cycle Tc is the time required to calculate various parameters. If it is determined that the time t ₁ has not passed the calculation cycle Tc (step S10: NO), the error integration unit 151 continuously waits for the passage of the calculation cycle Tc at the _{time t 1.} When it is determined that the time t ₁ has passed the calculation cycle Tc (step S10: YES), the error integration unit 151 _{resets the time t 1} to zero (step S12). Thereafter, the receiving unit 16 of the controller 10, the prediction error _{(e x, e y, e} z, e Ψ) acquires (step S6), and the processes after Step S7 is performed. These control flows are performed in each of the controlled devices 10 to 40 until the object OB reaches the destination.

FIG. 4 is a graph showing the time transition of the position change of the object OB. FIG. 4 shows the transition in each coordinate axis until the position of the object OB reaches the target value (X _m , Y _m , Z _m). As shown in FIG. 4, the object OB approaches the target value with the passage of time.

FIG. 5 is a graph showing the time transition of the posture change of the object OB. FIG. 5 shows the transition from the appearance of the object OB to the target posture (Ψ _{m) as the position of the object OB approaches the target value.} As shown in FIG. 5, the object OB approaches the target posture over time.

FIG. 6 is a time transition _{of each output u 1 to} u ₄ in the period T1 shown in FIG. FIG. 7 is a time transition _{of each output u 1 to} u ₄ in the period T2 shown in FIG. FIG. 6 shows the control amount of the motor in the transient state before the object OB reaches the target value. On the other hand, FIG. 7 shows the control amount of the motor in the steady state after the object OB reaches the target value. As shown in FIGS. 6 and 7, in _{the outputs u 1 to} u ₄ of the controlled devices 10 to 40 determined by _{the integration error E i , the predetermined values U b} and 0 shown in the equation (5) are switched. Is happening frequently.

As described above, the distributed control system 100 of the first embodiment includes a plurality of second control units 14 mounted on the controlled devices 10 to 40, and a central control device 50. The controlled devices 10 to 40 work together to achieve the common purpose of transporting the object OB to the destination. The central control device 50 detects the state quantity of the object OB from the sensor 51 and transmits the detected state quantity to each second control unit. For example, the second control unit 14 of the controlled device 10 controls the controlled device 10 without exchanging control information with other controlled devices 20 to 40. Therefore, in the first embodiment, the second control unit 14 uses the observed value on the controlled device 10 controlled by the second control unit 14 on the influence of the control of the other controlled devices 20 to 40 on the object OB. It is sufficient to consider indirectly and model the influence of one's own control on the target as a simple output characteristic. As a result, the second control unit 14 can control the controlled device 10 even if the information such as the positions of the other controlled devices 20 to 40 cannot be accurately grasped. That is, according to the distributed control system 100, the object OB can be controlled stably. Further, each of the controlled devices 10 to 40 is independently controlled by a second control unit 14 mounted on each of the controlled devices 10 to 40. Therefore, even if the characteristics of a certain controlled device or the characteristics of the central control device 50 change, the object OB is transported to the destination under the control of another controlled device. As a result, even if one of the plurality of controlled devices is replaced, it is not necessary to reset the replaced controlled device according to the other controlled devices.

Further, the central control device 50 of the first embodiment calculates an error (or command value) with respect to the target, transmits the error to the controlled devices 10 to 40, and commands the command value in each controlled device 10 to 40. Is calculated. As a result, the central control device 50 performs arithmetic processing that is commonly performed by the controlled devices 10 to 40. Therefore, the load on the distributed control system 100 is reduced as compared with the case where each of the controlled devices 10 to 40 performs everything from the error calculation to the command value calculation.

Further, the error integration unit 151 of the first embodiment determines the _{output u i} by the positive and negative of the _{integration error E i, as shown in the equation (5).} Therefore, the error integration unit 151 can calculate the _{integration error E i} by using only the positive / negative determination of the integration error E _{i in determining the output u i} and without calculating the magnitude of each configuration of the prediction error. As a result, the calculation load of the error integrating unit 151 is suppressed, and the controlled device 10 is easily controlled.

Further, the error integration unit 151 of the first embodiment sets the output u _i to zero _{when the integration error E i is negative, as shown in the equation (5).} Therefore, the calculation load of the error integrating unit 151 is further suppressed, and the controlled device 10 is controlled more easily.

Further, the error integration unit 151 of the first embodiment calculates the _{integration error E i} by using the value obtained by multiplying _{each difference by the weight g i, as shown in the equation (4).} As a result, _{by changing the weight g i , the influence of the integration error E i, which} is a highly important error during the transportation of the object OB, can be increased. As a result, the accuracy of the amount of change in the state of the object OB is improved.

<Modified example of the embodiment>
The present invention is not limited to the above-described embodiment, and can be implemented in various aspects without departing from the gist thereof. For example, the following modifications are also possible.

<First modification of the first embodiment>
In the first embodiment, the error integration unit 151 _{calculates the integration error E i} as shown in the equation (4) using _{the weight g ij} , but the error integration unit 151 of the first modification has the following equation. As shown in (6), prioritize from m controlled devices. From the result of the priority order, the error integration unit 151 has each prediction error (e _ij (i = 1, 2, ..., 4), (j = x, y, z,) as shown in the following equation (7). the absolute value of [psi)), the product of the weight g _ij is calculated integrated error E _i that maximizes. The same control as in the first embodiment is performed by using the calculated integration error E _{i of the first modification.}

In the first modification, as shown in the equation (6), the error integration unit 151 prioritizes the elements included in each prediction error in descending order of absolute value. The error integration unit 151 uses only the differences of a finite number of elements (one in the equation (7)) in descending order of priority in calculating the _{integration error E i.} Thus, by varying the number of elements used for the calculation of the integrated error E _i, the parameters of the controlled device 10 to 40 high-impact on the object OB can greatly influence the integration error E _i. As a result, the accuracy of the amount of change in the state of the object OB is improved.

<Second modification of the first embodiment>
In the second modification, unlike the first embodiment, the threshold C _i for determining the respective elements included in each prediction error of the m of the controlled device (e _j) is stored in advance in the storage unit 19 ing. Error integrating unit 151, the absolute value of each element is determined whether a corresponding threshold C _i above, using only the threshold C _i or more elements to the calculation of the integrated error E _i. For example, when there is a relationship as shown in the following formula (8), the error integration unit 151 calculates the _{integration error E i shown in the following formula (9).} From the result of the priority order, the error integration unit 151 calculates the integration error E _{i that maximizes the product of the absolute value of each error and the weight g i, as shown in the following equation (9).} The same control as in the first embodiment is performed by using the calculated integration error E _{i of the second modification.}

In the second modification, as shown in the equation (8), the error integration unit 151 uses only the differences in which the absolute value of each difference is equal to _{or greater than the individually preset threshold value C i} , and the equation (9) is used. As shown in, the integration error E _i is calculated. As a result, by changing each threshold value C _{i used for calculating the integration error E i} , the influence on the object OB is large or the important parameters of the controlled devices 10 to 40 have a large influence on the _{integration error E i.} can. As a result, the accuracy of the amount of change in the state of the object OB is improved.

<Third variant of the first embodiment>
FIG. 8 is a schematic block diagram of the central control device 50 and one controlled device 10a in the third modification of the first embodiment. In the third modification, as compared with the first embodiment, of the second control unit 14a of the controlled device 10a, the error adjustment unit (dynamic error adjustment unit) 153 in which the CPU 15a dynamically processes the integration error. The function as, the output calculation of the error integration unit 151a, and the control of the motor control unit 152a are different, and other configurations and controls are the same as those of the first embodiment. Therefore, in the third modification, the configuration and control different from those of the first embodiment will be described, and the description of the same configuration and control will be omitted. In the third modification, the other controlled devices 20a to 40a also have the same configuration as the controlled device 10a.

Error adjustment unit 153, the prediction error received from the central controller 50 via the reception section _{16 (e x, e y,} e z, e Ψ) dynamically process each element included in, after dynamic treatment Calculate the prediction error (corresponding to the phase described later). In the third modification, the error integrating unit 151 calculates the prediction error _{(e x, e y, e} z, e Ψ) integrated error E _i using the prediction error after dynamic process instead of.

Specifically, the error adjustment unit 153 calculates the _{dynamically processed phase α i} represented by the equation (10) using the prediction error. The numerator in the formula (10) corresponds to the prediction error. The maximum output value U _max of the denominator is the output value when the maximum voltage is applied to the motor 12. The motor control unit 152a of the third modification controls the movement of the controlled device 10a by using the prediction error whose phase and gain are adjusted by the error adjustment unit 153. The prediction error in the third modification corresponds to the dynamic adjustment error in which the phase and gain are adjusted.

In the first embodiment, as shown in the equation (5), the output u _i is ON U _b and OFF zero, but the error integration unit 151 a of the third modification is of phase. The output u _i is switched between ON and OFF according to the change. Therefore, the error integrating unit 151a sets the _{phase α i} as shown in the following equation (10). Incidentally, K _i in the equation (10) is a function for determining the follow-up performance, the parameters are set appropriately.

_{The error integrating unit 151a calculates the output u i} represented by the following equation (11) using the calculated phase of the equation (10).

As shown in the following equation (12), the error integration unit 151a calculates the calculated output u _i using the time constant τ and the output value T _i .

FIG. 9 is a flowchart of a method of calculating the _{output u i} in the third modification of the first embodiment. The calculation flow shown in FIG. 9 corresponds to the subflow of step S7 in the control flow of the first embodiment shown in FIG. Therefore, in step S6 of FIG. 5, when the prediction error is acquired by the controlled device 10a, the error adjusting unit 153 _{calculates the phase α i} using the prediction error and the equation (10) (step S71). ).

The error integrating unit 151a calculates the phase of the vibrator by calculating the equation (10). _{The error integrating unit 151a calculates the output u i represented} by the equation (11) using the calculated phase of the vibrator (step S72). Further, the error integration unit 151a calculates the value obtained by the time constant τ and the output value T _{i by substituting the calculated output u i} into the equation (12) (step S73). After that, the tampered value is used and the processing after step S8 in FIG. 3 is performed.

FIG. 10 is an explanatory diagram of the follow-up performance in the third modification of the first embodiment. FIG. 11 is an explanatory diagram of tracking performance in a comparative example. 10 and 11 show the time transition LN1 and LN2 of the output u _{i with respect to the time transition LN tr} of the target value shown by the broken line. FIG. 10 shows the results when the following relational expression (13) is used in the formula (10), and FIG. 11 shows the results when the following relational expression (14) is used in the formula (10).

_{The time transition LN1 of the output u i} of the third modification shown in FIG. 10 has a smaller amplitude than the time transition LN2 of the comparative example shown in FIG. Further, the cumulative difference between the time transition LN1 and the target value is smaller than the cumulative difference between the time transition LN2 and the target value. That is, the tracking performance of the time transition LN1 of the third modification is superior to the tracking performance of the time transition LN2 of the comparative example.

When the error adjusting unit 153 of the third modification performs the processing of the equation (11), Ki (ej, αi) ≈ 0 due to the structure of Ki even if ej is not sufficiently small, and α _{i even when e is large.} It is possible to reduce the vibration generated by delaying the update of.

<Fourth modification of the first embodiment>
FIG. 12 is a schematic block diagram of the central control device 50b and one controlled device 10b in the fourth modification of the first embodiment. The fourth modification is largely different in that a part of the functions performed by the first control unit 52 of the central control device 50 in the first embodiment is performed by the second control unit 14b of each controlled device. Therefore, in the fourth modification, the points different from those of the first embodiment will be described, and the description of the same configuration and control as that of the first embodiment will be omitted.

As shown in FIG. 12, the central control device 50b includes a sensor 51, a battery 57, and a communication unit 54b. The communication unit 54b transmits the detected value of the sensor 51 to the controlled device 10b. The second control unit 14b of the controlled device 10b includes a CPU 15b, a ROM 17, a RAM 18, a receiving unit 16b, and a storage unit 19. The receiving unit 16b receives the detection value of the sensor 51 transmitted from the communication unit 54b. Further, the receiving unit 16b receives the target value which is the transport destination of the object OB.

The CPU 15b functions as an error integration unit 151, a motor control unit 152, a state prediction unit 154, and an error calculation unit 155. The state prediction unit 154 of the fourth modification executes the same function as the state prediction unit 531 of the first control unit 52 in the first embodiment. Similarly, the error calculation unit 155 of the fourth modification executes the same function as the error calculation unit 532 of the first control unit 52 in the first embodiment. As described above, a part of the functions performed by the central control device 50 of the first embodiment may be performed by each controlled device (for example, the controlled device 10b).

In the fourth modification, a part of the functions performed by the central control device 50 of the first embodiment is performed by the controlled device 10b. As described above, even if some functions of the central control device 50 are performed by the controlled device 10b, the transportation of the object OB to the destination is completed as a common purpose.

<Other variants of the first embodiment>
In the first embodiment and each modification, an example of the distributed control system 100 has been described, but each configuration and each control of the distributed control system 100 can be variously modified. For example, the controlled device 10 may not include the storage unit 19, and may include other configurations (for example, an input unit capable of inputting voice). The controlled devices 10 to 40 use the detection value of the sensor 51 transmitted from the central control device 50 to control the controlled devices 10 to 40 on which they are mounted without exchanging information with other controlled devices. It can be deformed in various ways within the range of the above. The controlled devices 10 to 40 do not have the same configuration, and may have different shapes or different output forms.

In the first embodiment and each modification, an example of each parameter calculated until the controlled devices 10 to 40 are controlled has been described, but each parameter can be applied in various ways within the scope of well-known technology. For example, in the equation (2), the angles θ and φ may be used. The error integration unit 151 of the first embodiment _{uses the weight g i} shown in the equation (4) to calculate the _{integration error E i} , but further, the priority of the first modification (Equation (6)). , (7)) and the threshold determination (Equations (8), (9)) of the second modification may be used together. In the fourth modification, at least the dynamic processing represented by the equation (10) may be applied as the dynamic processing of the error, and the parameters represented by the equations (11) and (12) may not be present. ..

Further, the control flow shown in FIG. 3 can be variously modified. For example, in a range where the prediction error of the step _{S5 (e x, e y,} e z, e Ψ) is calculated, before and after each step can be interchanged. For example, the step of acquiring the sensor value in step S3 may be performed before the step of acquiring the target value in step S1.

Further, in the first embodiment, as shown in the equation (5) _{, the output u i} is determined in two ways by the positive / negative determination _{of the integration error E i} , but it may be determined in three or more ways. For example, when the integration error E _i is equal to or less than zero and _{the absolute value of the integration error E i} is equal to or greater than a predetermined value, the error integration unit 151 sets −U _m (U _m > 0) _{as the output u i.} May be good. As described above, since the output differs depending on the magnitude of the absolute value, the accuracy of control for the controlled devices 10 to 40 and the object OB is improved.

Further, before the second control unit (for example, the second control unit 14) of the central control device 50 or the controlled devices 10 to 40 conveys the object OB, each controlled device 10 to 40 exerts a force on the object OB. The detection value of the sensor 51 at the time of addition may be acquired. Each second control unit may perform transport control of the actual object OB by using the acquired detected value. The detected value of the sensor 51 corresponds to the information regarding the observed value.

<Second Embodiment>
FIG. 13 is a schematic block diagram of the distributed control system 200 of the second embodiment. The distributed control system 200 of the second embodiment is a system that controls the electric power supplied to the electric power supply destination FC from the plurality of electric power sources PW1 to PWn (n = 1, 2, ... N). As shown in FIG. 13, the distributed control system 200 uses the power supply destination FC, the power detection device S50 for detecting the power supplied to the power supply destination FC, and the power supplied from the power sources PW1 to PWn. A plurality of power conversion devices CH1 to CHn to be converted, agents C1 to Cn for controlling each power conversion device CH1 to CHn, and a plurality of powers to detect power supplied from each power conversion device CH1 to CHn to a power supply destination FC. The power detection devices S1 to Sn are provided. Since each agent C1 to Cn has the same configuration, only the block diagram of the agent C1 is shown in FIG. 1, and the other block diagrams are not shown. Hereinafter, one agent C1 among the plurality of agents C1 to Cn will be described, and the description of the other agents C2 to Cn will be omitted.

The central control device 150 includes a CPU 53C, a communication unit 154, a ROM 155, and a RAM 156. The communication unit 154 acquires the current power P, which is the total power supplied from the power detection device S50 to the power supply destination FC. Further, the communication unit 154 acquires the required power Pm, which is a supply target to the power supply destination FC, input by another input device. The CPU 53C functions as an error calculation unit 539 that calculates an error e (= Pm−P) obtained by subtracting the current power P from the required power Pm. The error calculation unit 539 transmits the calculated error e to the agents C1 to Cn via the communication unit 154.

Each agent C1 to Cn controls the power supplied to the power supply destination FC by using the error e transmitted from the error calculation unit 539. One agent C1 includes a CPU 115, a receiving unit 116, a ROM 117, a RAM 118, and a storage unit 119. The receiving unit 116 receives the error e periodically transmitted from the error calculating unit 539 and the power detected by the power detection device S1. The storage unit 119 stores a reference value for determining the magnitude of the power supplied from the power conversion device CH1 to the power supply destination FC. The details of the reference value will be described later.

The CPU 115 functions as an error integration unit 158 and a device control unit 159 that controls the power conversion device CH1. The error integration unit 158 defines the _{switching variable β i} represented by the following equation (15) using the received error e.

The error integration unit 158 determines whether the value calculated using the equation (15) is positive or negative. Specifically, the error integrating unit 158, e (t)> K _i for (e) is set as following equation (16) in the case of 0, e (t) in the case of a ≦ 0 K _i (e ) Is set as in the following equation (17). The error integrating unit 158 switches ON / OFF of the power supply switch of the power conversion device CH1 as in the following relational expression (18) by using _{β i} (t) calculated by the equation (15).

The device control unit 159 controls the power supplied from the power source PW1 to the power supply destination FC according to the ON / OFF of the switch represented by the equation (18). The power detection device S1 detects the power supplied from the power conversion device CH1 to the power supply destination FC. The device control unit 159 uses power when the difference between the power detected by the power detection device S1 and the estimated power supplied by the power conversion device CH1 by control is within the reference value stored in the storage unit 119. Supply. On the other hand, the device control unit 159 stops the power supply when the difference is larger than the reference value.

FIG. 14 is a flowchart of a control method of the distributed control system 200 of the second embodiment. In the control flow shown in FIG. 14, first, the communication unit 154 of the central control device 150 acquires the required power Pm required for the power supply destination FC (step S21). The communication unit 154 acquires the current power P supplied from the power detection device S50 to the power supply destination FC (step S22). The error calculation unit 539 calculates an error e obtained by subtracting the current power P from the required power Pm (step S23). The error calculation unit 539 transmits the calculated error e to the agents C1 to Cn via the communication unit 154. The error e is transmitted periodically.

The receiving unit (for example, receiving unit 116) of each agent C1 to Cn receives the error e transmitted from the central control device 150 (step S25). In the following, the control of one agent C1 will be described. Since the other agents C2 to Cn also perform the same control as the agent C1, the description of the control of the other agents C2 to Cn will be omitted. _{The error integration unit 158 calculates the switching variable β i} by substituting the received error e into the equation (15) (step S26). _{The error integration unit 158 determines whether the switching variable β i} is positive or negative by using the equation (15) (step S27). The error integrating unit 158 controls the conversion power of the power conversion device CH1 represented by the equation (15) by _{using β i (t) calculated by the equation (15) (step S28).} The device control unit 159 controls the power conversion device CH1 so as to convert the power determined by the error integration unit 158.

The power detection device S1 is converted from the power conversion device CH1 and detects the power supplied to the power supply destination FC (step S29). The device control unit 159 determines whether or not the difference between the detected power supply and the estimated power converted by the power conversion device CH1 by control is within the reference value (step S30). If it is determined that the difference is within the reference value (step S30: YES), the device control unit 159 continues to supply power from the power conversion device CH1 to the power supply destination FC (step S31), and steps. The processing after S25 is repeated. On the other hand, when it is determined that the difference is not within the reference value (step S30: NO), the device control unit 159 stops the power supply from the power conversion device CH1 to the power supply destination FC (step S32). ), The processing after step S25 is repeated.

As described above, even if the distributed control system 100 of the first embodiment is different from the distributed control system 100 of the second embodiment, the system can be modeled by a simple output characteristic.

<Modified example of the second embodiment>
In the second embodiment, an example of the distributed control system 200 has been described, but each configuration and each control of the distributed control system 200 can be variously modified. For example, the agents C1 to Cn use the detection values of the power detection device S50 transmitted from the central control device 150 to control the power conversion devices CH1 to CHn of their own without exchanging information with other agents. It can be deformed in various ways within the control range. The agents C1 to Cn, the power detection devices S1 to Sn, the power conversion devices CH1 to CHn, and the power sources PW1 to PWn do not have the same configuration, and may have different shapes and different output scales.

Although the present embodiment has been described above based on the embodiments and modifications, the embodiments of the above-described embodiments are for facilitating the understanding of the present embodiment and do not limit the present embodiment. This aspect may be modified or improved without departing from its spirit and claims, and this aspect includes its equivalents. In addition, if the technical feature is not described as essential in the present specification, it may be deleted as appropriate.

10 to 40, 10a, 10b, 20a ... Controlled device 11, 57 ... Battery 12 ... Motor 13 ... Propeller 14, 14a, 14b ... Second control unit (agent)
15, 15a, 15b ... CPU
16, 16b, 116 ... Receiver 19,119 ... Storage 50, 50b, 150 ... Central control device (central control)
51 ... Sensor 52 ... First control unit 53, 53C, 115 ... CPU
54, 54b, 154 ... Communication unit 100, 200 ... Distributed control system 151, 158, 151a ... Error integration unit 152, 152a ... Motor control unit (device control unit)
153 ... Error adjustment unit (dynamic error adjustment unit)
154, 531 ... State prediction unit 155, 532, 539 ... Error calculation unit 159 ... Device control unit AC ... Absolute coordinates C1 to Cn ... Agent CH1 to CHn ... Power conversion device C _i ... Threshold E _i ... Integrated error FC ... Power supply Destination LN1, LN2, LN _tr ... Time transition OB ... Object P ... Current power PW1-PWn ... Power source Pm ... Required power RC ... Relative coordinates S1-Sn, S50 ... Power detector T ... Target value Tc ... Calculation cycle T _i ... output value U _b ... predetermined value U _max ... maximum output value dT ... clock period e ... error _{e x, e y, e z} , e Ψ, e ij ... prediction error (command value)
α _i … Phase β _i … Switching variable g _i , g _ij … Weight q _ij … Action coefficient t ₁ … Time u _{1 to} u ₄ , u _i … Output

Claims (13)

It is a distributed control system
A plurality of agents mounted on a plurality of controlled devices that collaborate to achieve a common purpose, and a plurality of agents that control the movements of the plurality of controlled devices.
A central control unit that acquires information on observation values for achieving the purpose and transmits information on the observation values to the plurality of agents.
With
The agent is controlled so as to perform an operation for achieving the object by using the information on the observed value acquired from the central control unit without exchanging information on motion control with other agents. A distributed control system that controls the movement of equipment. The distributed control system according to claim 1.
The objectives include moving an object.
The central control unit calculates an error with respect to a target from the amount of change in the state of the object when the plurality of controlled devices each apply a force to the object, and transmits the error to the plurality of agents. death,
The agent is a distributed control system that controls the movement of the controlled device by calculating a command value using the error. The distributed control system according to claim 2.
The central control unit
A sensor that detects the amount of change in the state of the object when the plurality of controlled devices each apply a force to the object, and
An error calculation unit that calculates the command value including the difference decomposed into a plurality of coordinate axes from the difference between the purpose and the amount of change in the state of the object detected by the sensor.
A communication unit that transmits the command value calculated by the error calculation unit to the agent, and
Have,
The agent
A receiver that receives the command value and
The agent side that controls the movement of the controlled device using the positive and negative of the decomposed difference along the predetermined axis included in the command value and without using the magnitude of the difference decomposed on the predetermined axis. Control unit and
A distributed control system. The distributed control system according to claim 3.
The agent side control unit
When the difference decomposed on the predetermined axis is positive, a preset constant is output to the controlled device regardless of the magnitude of the difference decomposed on the predetermined axis.
A distributed control system in which when the difference decomposed on the predetermined axis is zero or less, the output to the controlled device is set to zero regardless of the magnitude of the difference decomposed on the predetermined axis. The distributed control system according to claim 4.
The agent-side control unit has a preset negative value when the decomposed difference along the predetermined axis is zero or less and the magnitude of the decomposed difference along the predetermined axis is less than a predetermined value. A distributed control system in which a constant is output to the controlled device. The distributed control system according to any one of claims 3 to 5.
The agent
An error integration unit that prioritizes the decomposed differences in descending order of absolute value and calculates the integration error, which is the sum of the values using the finite number of decomposed differences with the highest priority.
A device control unit that controls the movement of the controlled device using the calculated integration error,
A distributed control system. The distributed control system according to any one of claims 3 and 6.
The agent
An error integration unit that calculates the integration error, which is the sum of each value calculated using the values obtained by multiplying each of the decomposed differences by the weights set individually for each decomposed difference.
A device control unit that controls the movement of the controlled device using the calculated integration error,
A distributed control system. The distributed control system according to any one of claims 3 to 7.
The agent
An error integration unit that calculates the integration error, which is the total of each of the decomposed differences, which is calculated using the differences that are equal to or greater than the threshold set individually for each decomposed difference.
A device control unit that controls the movement of the controlled device using the calculated integration error,
A distributed control system. The distributed control system according to any one of claims 3 to 8.
The agent
An error integration unit that calculates the integration error by weighting and ranking the decomposed differences,
A dynamic error adjustment unit that adds dynamic processing to the integrated error obtained by the error integration unit, and a dynamic error adjustment unit.
A device control unit that controls the movement of the controlled device using a dynamic adjustment error whose phase and gain are adjusted by the dynamic error adjustment unit.
A distributed control system. The distributed control system according to claim 1.
The objectives include moving an object.
The central control unit acquires the amount of change in the state of the object when the plurality of controlled devices each apply a force to the object as information on the observed value, and transmits the information to the plurality of agents. ,
The agent is a distributed control system that controls the movement of the controlled device by using the amount of change in the state of the object. The distributed control system according to any one of claims 2 to 10.
The central control unit or the agent acquires in advance the amount of change in the state of the object when the plurality of controlled devices each apply a force to the object before the control for achieving the object. , Distributed control system. It is a control method of a distributed control system.
Information acquisition process to acquire information on observed values to achieve a common purpose,
An information transmission step of transmitting information about the observed value to a plurality of controlled devices that collaborate to achieve the purpose.
The transmitted information on the observed value is acquired, and the information on the observed value is used to control the movement of the controlled device and the movement of the other controlled device so as to perform an operation for achieving the purpose. A control method comprising a control process for controlling without exchanging information about. It ’s a computer program,
The ability to obtain information about observations to achieve a common goal,
A function to transmit information about the observed value to a plurality of controlled devices that collaborate to achieve the purpose, and
The transmitted information on the observed value is acquired, and the information on the observed value is used to control the movement of the controlled device and the movement of the other controlled device so as to perform an operation for achieving the purpose. Ability to control without exchanging information about
A computer program that causes a computer to run.

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