| 摘要 |
PCT No. PCT/JP93/00056 Sec. 371 Date Oct. 6, 1993 Sec. 102(e) Date Oct. 6, 1993 PCT Filed Jan. 19, 1993 PCT Pub. No. WO93/16423 PCT Pub. Date Aug. 19, 1993.The present invention provides an adaptive sliding mode control method capable of not only improving the convergence of estimated parameters but also providing outstanding vibration-damping properties. In this method, a position deviation epsilon between a command position and a motor position, a speed deviation epsilon , and a position command acceleration theta r are determined. The difference epsilon t between the motor position and the position of machine's moving part and a differential epsilon t based thereon are obtained by observer processing and filtering processing. A phase plane Suf of the motor is obtained by feeding back the deviation epsilon t between the motor position and the position of the machine's moving part. Estimated values Jhat, Ahat and Grhat, representing an inertia term, coefficient of dynamic friction, and gravity term respectively, are obtained. A switching input tau 1 is set to the maximum Dis or minimum Dis of a disturbance depending on the plus/minus sign of the phase plane Suf. A torque command tau for the motor is obtained and delivered to a current loop. With this method, the vibration of the machines moving part after positioning can be reduced.
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