電気油圧サーボシステムの適応フィードフォワード制御

概要

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Adaptive feedforward control, consisting of a precompensator for feedforward control and an adaptive mechanism for parameter estimation, is applied to an electrohydraulic servo system. Mathematically, a higher-order model is preferable for an electrohydraulic servo system. However, such high-order models in an adaptive control system require longer calculation time. A shorter period of sampling of system variables is another requirement of an adaptive control system. Therefore we must consider the trade-off between system simplification and sampling period. We discuss a first- and a second-order model for the servo system. For the first-order model, a simple inverse transfer function is used in the precompensator ; for the second-order model, a ZPETC is used in place of the inverse transfer function. Influence of sampling period and order of the model on tracking error is discussed based on results of simulation. Experimental results show that the two systems are stable and have sufficiently small tracking error for practical applications.
一般社団法人日本機械学会の論文
1994-01-25