Development of Servo-Controller to Compensate Friction Disturbances Automatically by Using Adaptive Control Technique

为了实现伺服系统的高速度、高精度控制，对系统中未知摩擦力进行补偿是非常重要的。在本课题中，提出了几种对未知摩擦力进行估计和补偿的方案.在旋转或重复运动的伺服系统中，由于摩擦干扰是周期性的，因此需要估计周期性干扰以补偿摩擦力。提出了一种自适应观测器来估计这种干扰。观测器包括一个简单的计划来计算估计的干扰。给出了两种补偿摩擦力的自适应控制方案。第一种方案利用参数估计对力进行补偿，并通过干扰解耦方法减小由估计误差引起的控制误差。在第二种方法中，未知的摩擦干扰补偿的模型参考自适应控制系统的双参数补偿方案的基础上的计划。这些方案都编制了计算机模拟程序.给出了控制系统稳定的一个充分条件。应用这一条件，证明了补偿摩擦扰动的系统是稳定的.开发了两个实验伺服控制系统。这些系统具有连接计算机的接口，并且它们可以由所连接的计算机控制。第一个系统是与计算机连接的伺服电机。第二种是六自由度机械手，其轴由计算机控制。使用这些系统，实验来估计未知的摩擦干扰进行。

To control servo systems in high performance of speed and accuracy, it is important to compensate unknown friction forces in the systems. In this project, several schemes to estimate and compensate the unknown friction forces are proposed.1. Since friction disturbances are periodic in rotating or repeatedly moving servo systems, it is necessary to estimate periodic disturbances for compensating the friction forces. An adaptive observer to estimate such disturbances is proposed. The observer includes a simple scheme to calculate the estimate of the disturbances.2. Two adaptive control schemes to compensate the friction forces are given. The first scheme compensates the forces by using estimated parameters and reduces control errors caused by estimation errors by disturbance decoupling method. In the second method, the unknown friction disturbances are compensated by a scheme of model reference adaptive control systems based on the two-parameter compensation schemes. These schemes are programmed for computer simulations.3. A sufficient condition for control systems to be stable is given. Applying this condition, it is shown that the systems compensating the friction disturbances are stable.4. Two experimental servo control systems are developed. These systems have interfaces to connect computers and they can be controlled by the connected computers. The first system is a servo motor connected with a computer. The second is a manipulator with 6 degrees of freedom, whose axes are controlled by computers. Using these systems, experiments to estimate the unknown friction disturbances are conducted.