外乱・速度推定型サーボ系の解析

概要

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This paper reports the result of analysis for the servo system which includes the disturbance and velocity observer. Recently, the improvement of control theory brings us much useful knowledge. For example, we can get a compensator based on Youla parametrization if only we make use of an identity observer and a state feedback system. And it is known that a term of free parameter in this compensator is equivalent to the disturbance estimation value.<BR>On the other hand, I have presented a minimum order observer which estimated disturbance and driving velocity on each axis of robot manipulator. And it has become known that the control system using the observer has robust performance in generally.<BR>Then this paper proves that the control system is equivalent to a Youlas compensator when a term of free parameter is fitted to a condition to compose type-1 servo system. Next, when we make use of this minimum order observer, we can compose a two degrees of freedom robust servo system. Finally, this paper presents that there is a restriction on the pole allocations of the control system in practice.
社団法人日本ロボット学会の論文
1995-04-15