发明名称 |
Positions- und/oder Stellkraftregelungseinrichtung mit Entkopplung durch ein Regelungsverfahren des gleitend einstellbaren Typs |
摘要 |
<p>An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane sigma which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane sigma . In this case, even if uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain ki (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto. <IMAGE></p> |
申请公布号 |
DE69809835(D1) |
申请公布日期 |
2003.01.16 |
申请号 |
DE1998609835 |
申请日期 |
1998.04.28 |
申请人 |
SEIKO SEIKI K.K., NARASHINO |
发明人 |
SHIMADA, AKIRA;OHTACHI, YOSHINOBU;MITA, TSUTOMU |
分类号 |
B24B27/04;B25J9/16;G05B13/04;G05B19/19;(IPC1-7):B24B27/04;G05B13/02 |
主分类号 |
B24B27/04 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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