111 伝達部にコンプライアンスのあるシステムにおける摩擦補償について

概要

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In many control systems, such as high precision servo mechanisms, friction phenomenon causes undesirable effects such as limits cycles, stick-slip motion, tracking errors, and so on. In this study, we consider the problem of adaptive friction compensation for systems with transmission compliance in drive train. In such systems the friction compensation is especially difficult due to the transmission delay. We propose a method of designing an adaptive friction compensator based on the integrator back-stepping method. The friction model assumed in this method thus consists of a smooth function and an unknown parameter. The smooth function is to be identified by means of neural network; the unknown parameter is estimated on-line and thus the compensator results in an adaptive controller. A simulation study demonstrates the effectiveness of the proposed adaptive controller.
社団法人日本機械学会の論文
2000-09-01