| 摘要 |
PURPOSE:To introduce sliding mode control and adaptive control by using the technology of conventional linear control. CONSTITUTION:The phase surface of a sliding mode is adopted as a shape which is obtained by dividing a torque command obtained by conventional linear control by an integration gain K2. A Liapunov function is adopted as one obtained by considering the inertia of an object to be controlled, the coefficient of dynamic friction and the estimated value of a gravity item. The respective linear control gains Kp, K1 and K2 are decided so as to always make the Liapunov function negative and the respective estimated values are changed so as to decide an auxiliary input tau a. The auxiliary input tau a is added to the torque command tau0 so as to be adopted as the torque command tau to a servo motor. Since sliding mode control is applied to conventional PI control and adaptive control is also applied, robustness is high and sliding mode control and adaptive control are easily applied to conventional control. |
