| 摘要 |
<p>Oscillation is suppressed by a state feedback in which a special filter is applied to the amount of twist and the speed of twist of a control object such as a robot that has a low-frequency oscillation system. The amount of twist epsilon and the speed of twist epsilon <(1)> are estimated by an observer (36), and are fed through elements (38 and 39) to an adder (40) where they are added up together, and the added amount is fed back as a state feedback amount F and is subtracted from a speed instruction THETA d. Therefore, a damping term of the transfer function can be independently changed by using a constant K1 to suppress the oscillation. Furthermore, an inertia term is independently changed by using a constant K2 to shorten the time for positioning. <IMAGE></p> |
