| 摘要 |
PURPOSE:To perform the same motion as that when no solid friction operates even when solid friction operates by estimating the solid friction having nonlinear characteristics through a state observing instrument, and using the estimated value to compensate the influence that the solid friction exerts. CONSTITUTION:This controller consists of a machine mechanism I which includes a servomotor, the state observing instrument II to which a means for estimating the torque of solid friction is added, and a controller III which generates an input for compensating the influence that the solid friction exerts upon the machine mechanism by using the estimated value of the torque of solid friction. In this constitution, the nonlinear solid friction is estimated sequentially by using the state observing instrument II and the controller III performs its compensation by using the estimated value of solid friction; even when the extent of the solid friction is unknown or changes with time, the machine mechanism is put in fast, high-precision motion. |
