| 摘要 |
This invention relates to a method of obtaining an extremely robust adaptive PI control method even when any parameter fluctuation exists in a control object. Estimation values J*, A*, Gr* and Cf* of an inertia, a coefficient of dynamic friction, gravitational disturbance due to a robot angle and Coulomb friction are determined, respectively, using [speed command r - actual speed y] as a state variable Suf, and a torque command tau is determined in the following way so as to make the difference between each estimation value and an actual value zero: tau = K2.Suf + (K1/s).Suf + J*.r' + A*.y + Gr*.sin THETA + Cf* + tau 1 . In this equation, the first and second terms on the right side are torque commands obtained by the PI control, r' is an acceleration of the command, THETA is a robot arm angle, and tau 1 is a change-over input so as to cope with other disturbances. Since the difference between each estimation value and the actual value becomes zero, [acceleration command r = actual speed y] can be obtained and adaptative PI control having a transmission function "1" can be obtained. <IMAGE> |
