Abstract: A model prediction control part of a control device includes an obstacle avoidance control unit that operates when there are a plurality of actual obstacles to be avoided. The obstacle avoidance control unit decides the position of a virtual obstacle from the positions of the plurality of actual obstacles acquired by an acquisition part so as to be positioned between the plurality of actual obstacles, and performs model prediction control by using, as the stage cost, the addition result of a standard cost and a virtual obstacle evaluation term for which a prescribed function, which uses, as parameters, at least the position of the virtual obstacle and the position of a moving body, is multiplied by a virtual obstacle weight. Using this configuration, when the moving body is caused to follow with respect to a target trajectory by the model prediction control, a collision with an obstacle can be avoided suitably.

Abstract: A simulation device includes: a simulation system including a predetermined feedback system having at least a predetermined control block structure corresponding to a predetermined device-side configuration; a holding unit holding impulse response information for calculation that is information on an impulse response relating to the predetermined device-side configuration; a first response calculation unit calculating a time response of the predetermined device-side configuration to a predetermined input value by convolution processing using the impulse response information for calculation and the predetermined input value; and a second response calculation unit calculating a response of the simulation system to a command value input to the simulation system by using the time response of the predetermined device-side configuration calculated by the first response calculation unit. According to this configuration, simulation accuracy of a control system is improved.

Abstract: A model prediction control part of a control device includes an obstacle avoidance control unit that operates when there are a plurality of actual obstacles to be avoided. The obstacle avoidance control unit decides the position of a virtual obstacle from the positions of the plurality of actual obstacles acquired by an acquisition part so as to be positioned between the plurality of actual obstacles, and performs model prediction control by using, as the stage cost, the addition result of a standard cost and a virtual obstacle evaluation term for which a prescribed function, which uses, as parameters, at least the position of the virtual obstacle and the position of a moving body, is multiplied by a virtual obstacle weight. Using this configuration, when the moving body is caused to follow with respect to a target trajectory by the model prediction control, a collision with an obstacle can be avoided suitably.

Abstract: Provided is a processing device including a simulation system including a model control unit and a predetermined control block structure corresponding to a predetermined device-side configuration, wherein a time response of the predetermined device-side configuration to a predetermined input value is calculated by convolution processing using impulse response information for calculation relating to the predetermined device-side configuration and the predetermined input value, and simulation of the simulation system is performed using the calculated time response. By changing a model control parameter set in the model control unit and performing the simulation, a correlation between a predetermined performance index and the model control parameter is calculated based on a response result of the simulation system, and a device control parameter is determined based on the correlation.

Abstract: Provided is a processing device including a simulation system including a model control unit and a predetermined control block structure corresponding to a predetermined device-side configuration, wherein a time response of the predetermined device-side configuration to a predetermined input value is calculated by convolution processing using impulse response information for calculation relating to the predetermined device-side configuration and the predetermined input value, and simulation of the simulation system is performed using the calculated time response. By changing a model control parameter set in the model control unit and performing the simulation, a correlation between a predetermined performance index and the model control parameter is calculated based on a response result of the simulation system, and a device control parameter is determined based on the correlation.

Abstract: A simulation device includes: a simulation system including a predetermined feedback system having at least a predetermined control block structure corresponding to a predetermined device-side configuration; a holding unit holding impulse response information for calculation that is information on an impulse response relating to the predetermined device-side configuration; a first response calculation unit calculating a time response of the predetermined device-side configuration to a predetermined input value by convolution processing using the impulse response information for calculation and the predetermined input value; and a second response calculation unit calculating a response of the simulation system to a command value input to the simulation system by using the time response of the predetermined device-side configuration calculated by the first response calculation unit. According to this configuration, simulation accuracy of a control system is improved.