| 摘要 |
PURPOSE:To suppress the vibration by changing the switching surface of the sliding mode control based on the twist degree and the twist speed of the spring element of a system and carrying out the sliding mode control so as to converge the vibration to the switching surface. CONSTITUTION:When the vibration is converged to a switching surface S, a position deviation epsilon(=thetar-theta) between a position command thetar given to a motor and the actual position theta of the motor must be detected together with the acceleration theta''r of the command thetar, the twist quantity epsilonn(=theta-thetat) and the twist speed epsilon'n. The deviation epsilon is detected in a servo control process and the acceleration theta''r is obtained by differentiating twice the command thetar. Then the twist quantity epsilonn and the twist speed epsilon'n are detected from the positions thetat and thetaand the speeds theta't and theta' which are detected by a speed detector set at the output side of a speed reducer and a speed detector attached to the rotor shaft of a servo motor respectively. Then the sliding mode control is carried out based on those position deviation and twist degree/speed so that the vibration is converged to the surface S. As a result, the vibration is reduced. |
