发明名称 |
ADAPTIVE PI CONTROL METHOD. |
摘要 |
<p>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></p> |
申请公布号 |
EP0604666(A1) |
申请公布日期 |
1994.07.06 |
申请号 |
EP19930916180 |
申请日期 |
1993.07.16 |
申请人 |
FANUC LTD. |
发明人 |
KATO, TETSUAKI, ROOM 8-101, FANUC MANSHONHARIMOMI;YOSHIDA, OSAMU;NAKAMURA, MASARU, FANUC DAI-3 VIRA-KARAMATSU;ARITA, SOICHI, ROOM 10-305, FANUC MANSHONHARIMOMI |
分类号 |
G05B11/36;B25J9/16;G05B11/42;G05B13/02;G05B13/04;G05D3/12;(IPC1-7):H02P5/00 |
主分类号 |
G05B11/36 |
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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