Abstract: A control method for a mobile object automatically moving includes: causing the mobile object to move along a first path; causing a sensor of the mobile object to detect a position and an attitude of a target object while the mobile object is moving along the first path; setting a second path up to a target position at which predetermined position and attitude with respect to the target object are achieved based on the position and the attitude of the target object; switching the first path to the second path to move the mobile object along the second path; executing optimization calculation based on an evaluation function, to set a third path; and switching the second path to the third path to move the mobile object along the third path.

Abstract: A control device selects and executes any of normal control of outputting a fuel flow rate command value through feedback control based on a deviation between a target output and an actual output of a gas turbine and load decreasing control of outputting the fuel flow rate command value for reducing an output of the gas turbine to a predetermined target output during a predetermined first time without performing feedback control, and performs control of reducing a flow rate of air flowing into a compressor of the gas turbine such that an air-fuel ratio settles within a predetermined range, in parallel with execution of the load decreasing control when the load decreasing control is selected.

Abstract: A combustion control device including a bleed valve control unit for controlling a bleed valve disposed on a bleed pipe for performing bleeding so that a part of the compressed air flowing into the casing is not used as combustion air in the combustor, a fuel control unit for controlling a fuel regulating valve for regulating a fuel flow rate of fuel supplied to the combustor, and a temperature acquisition unit. Upon reception of a load rejection signal for cutting off a load from the gas turbine, the bleed valve control unit controls a valve opening degree of the bleed valve from a closed state to an open state with a prescribed opening degree, and the fuel control unit controls the fuel regulating valve such that the acquired flame temperature falls within a predetermined temperature range defined by an upper limit value and a lower limit value.

Abstract: A movement control method for a multi-vehicle system for moving multiple vehicles to target positions individually set for the vehicles includes: acquiring first positions of the vehicles; determining control input for moving the vehicles from the first positions to second positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition; and updating the first distance to be a shorter distance when a distance between the second position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance.

Abstract: A flow rate per unit time of fuel fed to a gas turbine is calculated. A flow rate per unit time of air fed to the gas turbine is calculated. A turbine inlet temperature is calculated through use of a physical model formula expressing a relationship of input and output of thermal energy relating to a combustor of the gas turbine. A fuel distribution ratio for each of a plurality of fuel supply systems connected to the combustor is calculated based on the turbine inlet temperature.

Abstract: A method of controlling movement of multi-vehicle includes acquiring a constraint condition under which vehicles move and a calculation cycle for calculating movement routes of the vehicles; acquiring a position of each vehicle; specifying a target position for each vehicle; calculating, based on the position of each vehicle, the target position, and the constraint condition, a movement route for prediction steps of each vehicle; determining, based on the movement routes of the vehicles, a driving condition of each vehicle from a current time to a unit time; and controlling movement of each vehicle. Calculating the movement route including performing optimization calculation based on an evaluation function, evaluation of which becomes higher as a deviation between the vehicle and the target position for each prediction step becomes smaller, and the constraint condition, to calculate the movement route.

Abstract: A control method for a mobile object automatically moving includes: causing the mobile object to move along a first path; causing a sensor of the mobile object to detect a position and an attitude of a target object while the mobile object is moving along the first path; setting a second path up to a target position at which predetermined position and attitude with respect to the target object are achieved based on the position and the attitude of the target object; switching the first path to the second path to move the mobile object along the second path; executing optimization calculation based on an evaluation function, to set a third path; and switching the second path to the third path to move the mobile object along the third path.

Abstract: A path generation method includes: acquiring information about a position of a vehicle; acquiring information about a target position of the vehicle; acquiring information about a position of an obstacle; setting a constraint condition that the vehicle at each of predicted steps does not interfere with the obstacle, based on the position of the vehicle, a size of the vehicle and the position of the obstacle; and calculating a moving path of the vehicle by optimization calculation based on the constraint condition and an evaluation function in which a score becomes higher as a deviation between the position of the vehicle at each of the predicted steps and the target position becomes smaller.

Abstract: A combustion control device including a bleed valve control unit for controlling a bleed valve disposed on a bleed pipe for performing bleeding so that a part of the compressed air flowing into the casing is not used as combustion air in the combustor, a fuel control unit for controlling a fuel regulating valve for regulating a fuel flow rate of fuel supplied to the combustor, and a temperature acquisition unit. Upon reception of a load rejection signal for cutting off a load from the gas turbine, the bleed valve control unit controls a valve opening degree of the bleed valve from a closed state to an open state with a prescribed opening degree, and the fuel control unit controls the fuel regulating valve such that the acquired flame temperature falls within a predetermined temperature range defined by an upper limit value and a lower limit value.

Abstract: A first fuel flow rate command value indicating a command value of a fuel input amount is calculated so that an output of a gas turbine matches a target output. An upper limit value of the first fuel flow rate command value is calculated based on a deviation obtained by subtracting, from an estimated value of a turbine inlet temperature of the gas turbine, a second limit value relating to the estimated value set such that the estimated value does not exceed a first limit value of the turbine inlet temperature.

Abstract: A control device for a gas turbine include: a target value calculation part configured to calculate a control target value being a target value of an output of the gas turbine; and a command value calculation part configured to calculate a fuel command value on the basis of a deviation between the control target value and an actual output value of the gas turbine. The target value calculation part is configured to: set the control target value to a value which is greater than an output demand value of the gas turbine immediately before a difference between the output demand value and the actual output value becomes not greater than a threshold; and subtract the control target value from the value after the difference becomes not greater than the threshold.

Abstract: A gas turbine control device includes a first estimation unit configured to estimate a first temperature which is a first turbine inlet temperature estimation value based on a first model which is a physical model using a fuel flow rate to a gas turbine; a second estimation unit configured to estimate a second temperature which is a second turbine inlet temperature estimation value based on a second model which is a physical model using an exhaust gas temperature of the gas turbine; and a correction unit configured to correct the first temperature based on the second temperature to calculate a third turbine inlet temperature estimation value.

Abstract: [Problem] Provided is a vehicle control system that can, without needing to specify a self-position based on external reference data, cause a vehicle to arrive at an object with satisfying required conditions for the position and orientation of a vehicle when the vehicle arrives at the object corresponding to the position and orientation of the object. [Solution] The vehicle control system includes a detection device that detects a positional relationship between two reference points of the vehicle and two feature points of the object and a control device that determines a movement route of the vehicle on the basis of only information indicative of the positional relationship between the two reference points and the two feature points detected by the detection device.

Abstract: A movement control method for multi-vehicle for moving multiple vehicles to target positions individually set for the vehicles includes the steps of: acquiring positions of the vehicles; determining control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition; and updating the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance.

Abstract: A gas turbine control device includes a detection value acquisition unit that acquires a detection value of at least one of a supply amount of fuel, pressure of compressed air, and electric power generated by a generator; a flue gas temperature acquisition unit that acquires a flue gas temperature detection value; a combustion gas temperature estimate value calculation unit that calculates a combustion gas temperature estimate value based on the detection value; a correction term acquisition unit that calculates a correction term based on a ratio between the combustion gas temperature estimate value and the flue gas temperature detection value; a corrected combustion gas temperature estimate value calculation unit that corrects the combustion gas temperature estimate value using the correction term to calculate a corrected combustion gas temperature estimate value; and a gas turbine controller that controls the gas turbine based on the corrected combustion gas temperature estimate value.

Abstract: A control device selects and executes any of normal control of outputting a fuel flow rate command value through feedback control based on a deviation between a target output and an actual output of a gas turbine and load decreasing control of outputting the fuel flow rate command value for reducing an output of the gas turbine to a predetermined target output during a predetermined first time without performing feedback control, and performs control of reducing a flow rate of air flowing into a compressor of the gas turbine such that an air-fuel ratio settles within a predetermined range, in parallel with execution of the load decreasing control when the load decreasing control is selected.

Abstract: A method of controlling movement of multi-vehicle includes acquiring a constraint condition under which vehicles move and a calculation cycle for calculating movement routes of the vehicles; acquiring a position of each vehicle; specifying a target position for each vehicle; calculating, based on the position of each vehicle, the target position, and the constraint condition, a movement route for prediction steps of each vehicle; determining, based on the movement routes of the vehicles, a driving condition of each vehicle from a current time to a unit time; and controlling movement of each vehicle. Calculating the movement route including performing optimization calculation based on an evaluation function, evaluation of which becomes higher as a deviation between the vehicle and the target position for each prediction step becomes smaller, and the constraint condition, to calculate the movement route.

Abstract: A control device for a gas turbine include: a target value calculation part configured to calculate a control target value being a target value of an output of the gas turbine; and a command value calculation part configured to calculate a fuel command value on the basis of a deviation between the control target value and an actual output value of the gas turbine. The target value calculation part is configured to: set the control target value to a value which is greater than an output demand value of the gas turbine immediately before a difference between the output demand value and the actual output value becomes not greater than a threshold; and subtract the control target value from the value after the difference becomes not greater than the threshold.

Abstract: A flow rate per unit time of fuel fed to a gas turbine is calculated. A flow rate per unit time of air fed to the gas turbine is calculated. A turbine inlet temperature is calculated through use of a physical model formula expressing a relationship of input and output of thermal energy relating to a combustor of the gas turbine. A fuel distribution ratio for each of a plurality of fuel supply systems connected to the combustor is calculated based on the turbine inlet temperature.

Abstract: A first fuel flow rate command value indicating a command value CSO of a fuel input amount is calculated so that the output of a gas turbine matches a target output. An upper limit value of the first fuel flow rate command value is calculated. The upper limit value of the first fuel flow rate command value is calculated on the basis of a deviation obtained by subtracting from an estimated value of the turbine inlet temperature of the gas turbine a second limit value relating to the estimated value set such that the estimated value does not exceed the first limit value of the turbine inlet temperature.