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Servo Motor Current Feedback Control to Optimize the System including Reduction Gear Dynamics by Using Adaptive Control Technique

伺服电机电流反馈控制通过使用自适应控制技术来优化包括减速齿轮动力学在内的系统

基本信息

批准号：
61550193
负责人：
INOUE. Akira
金额：
$ 1.09万
依托单位：
Okayama University (1987)Kumamoto University (1986)
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1986
资助国家：
日本
起止时间：
1986 至 1987
项目状态：
已结题

项目摘要

In this project, several schemes to accomplish high performances of speed and accuracy of DC servo motor control are given. These schemes are used in an adaptive control method. The adaptive method is, first, to identify dymanics of reduction gear, then, adapt the currenct control feedback gain to the dynamics and compensate disturbances such as friction forces optimally.Following schemes of identification, estimation and control for the adaptive method are proposed.1. Two identification schemes are proposed. Those are discrete-time and continuous-time identification law based on Lyapunov-type adaptive law, which is computed in a short time period. To improve convergence property, a non-linear term is added to the discrete-time law and relay elements are used in the continuous-time law.2. A sufficient condition for control systems to be stable is given. Applying this condition, it is shown that the systems icnluding the proposed identification schemes are stable.3. For servo systems with nonlinear dynamics an identification scheme is proposed. By using filter functions, the schem does not need to use acceleration signals. The scheme is tested by identifying parameters of an experimental manipulator with 6 links.4. An observer estimating periodical disturbances such as friction forces in reduction gears is given. The observer includes an identification law to identify the frequency of the disturbances.5. It is shown that the adaptive control system using the proposed identification law with relay elements is robust to disturbances such as friction forces. The fact is confirmed by on-line control experiments using the experimental manipulator.6. A decoupling adaptive control method is given. The method compensates nonlinear terms in the servo systems by using estimated paramewters and reduces control erroes caused by estimation errors by disturbance decoupling method. Experimental results using the manipulator show reduction of control errors.

本课题提出了几种实现高性能直流伺服电机控制的方案。这些计划中使用的自适应控制方法。自适应方法首先对减速器的动态特性进行辨识，然后使当前控制反馈增益适应动态特性，并对摩擦力等干扰进行最优补偿，提出了以下自适应方法的辨识、估计和控制方案。提出了两种识别方案。这些是离散时间和连续时间的识别律基于李雅普诺夫型自适应律，这是在很短的时间内计算。为改善收敛性，在离散时间法中加入非线性项，在连续时间法中加入继电器元件.给出了控制系统稳定的一个充分条件。应用这个条件，证明了包含所提出的辨识方案的系统是稳定的.针对具有非线性动态特性的伺服系统，提出了一种辨识方法。通过使用滤波函数，该方案不需要使用加速度信号。通过6连杆实验机械手的参数辨识，验证了该方案的有效性.给出了一种估计减速器摩擦力等周期性扰动的观测器。观测器包括一个识别法来识别干扰的频率。结果表明，自适应控制系统使用所提出的识别法与继电器元件是鲁棒的干扰，如摩擦力。利用实验机械手进行的在线控制实验证实了这一点.给出了一种解耦自适应控制方法。该方法利用估计参数补偿伺服系统中的非线性项，并通过干扰解耦方法减小估计误差引起的控制误差。实验结果表明，使用机械手的控制误差减少。