| 摘要 |
<p>A sliding mode control method with a feedforward compensation function which is capable of achieving a control response characteristic adapted to varying system parameters and permitting a manipulated variable affecting a controlled object to be always kept proper. A position deviation (.epsilon.), speed deviation (?), predicted maximum and minimum inertias (Jmax, JO), predicted maximum and minimum gravity loads (GRmax, GRmin), switching variable (s), integral element (?(? + C?.epsilon.)), second differential (?r) of the command position, and actual speed (?) are periodically calculated on the basis of a command position (.theta.r). actual position (.theta.), inertia data, and gravity load data (100 - 102, 104, 107, 110, 114, 117, 120, 123, 127). Even when a nonlinear system parameter such as an inertia varies, a proper torque command (T) is periodically calculated, as a manipulated variable, on the basis of a switching amount (T1) obtained by adding together five terms calculated in accordance with respective positive or negative signs of the switching variable, position deviation, integral element, second differential, and actual speed (105, 106, 108, 109, 111 - 113, 115, 116, 118, 119, 121, 122, 124 to 126, 128 131).</p> |
