油圧ショベルのデータベース駆動型モデリングに基づく内部モデル制御系の一設計

抄録

In recent years, the Digital Transformation (DX) has been promoted by the Japanese government. New value is expected to be created by utilizing new digital technologies and data through DX. In particular, the Ministry of Land, Infrastructure, Transport and Tourism (MLIT) is developing a data integration platform that allows easy access to data and models in the cloud. On the other hand, Internal Model Control (IMC) based on the memory-based modeling (MBM) using data and model has been studied. It can be able to adjust control and internal model parameters adaptively using real-time data of the control system. However, the control performance might be deteriorated by this modeling method, because it can not calculate appropriate parameters when new system input and output data is not involved in the database. This paper presents a new design manner of an IMC system based on the database-driven modeling. The effectiveness of the proposed method is verified by the simulation that is assumed work of the hydraulic excavators.