適応的非定常サーボ制御から非定常インピーダンス制御に切り換わる位置決め制御手法(機械力学,計測,自動制御)

概要

論文の詳細を見る
Power-assist system technology and its applications to manufacturing systems have attracted special interest recently. For example, an automobile assembly process utilizing a power-assist system has been proposed by Yamada, et al. Many power-assist systems for industrial uses possess simple power-assisting function only. Conveyance of controlled objects is generally processed by another system. Then, the author has studied on the positioning method of a cart with motor by means of a smooth switching from the servo access control for the conveyance function to the impedance control for the power-assisting function. The nonstationary optimal control method and the nonstationary impedance control law are applied to obtain the smooth switching. However, the optimal control method requires the offline calculations for generating time-varying feedback gains. If we take parameter variations in real problems into account, this characteristic is inconvenient. To realize adaptive control for the variations, this study introduces the adaptive nonstationary control (ANSC) technique proposed by the author instead of the optimal control method.
一般社団法人日本機械学会の論文
2007-10-25