1P1-A20 角速度センサ実装によるディジタル加速度制御の制御性能向上

概要

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PID control is one of the most common methods to control mechanical systems, but it is affected by modeling error that is caused by disturbances such as gravity, friction, and interaction of joints. On the other hand, digital acceleration control (DAC) method has robustness for the modeling error. DAC is more practical to control, but it needs information of velocity and acceleration. To solve this problem we apply a nonlinear filter termed ESDS based on sliding mode technique. We have proposed DAC controller that includes ESDS, but it requires LPF and high calculation cost. In this paper, we implement velocity sensor to DAC for perpendicular 2-link manipulator. By using the proposed method, we can eliminate LPF from the controller and reduce calculation cost. As a result, robustness and accuracy are dramatically improved. The effectiveness of the proposed method is confirmed by experimental studies.
一般社団法人日本機械学会の論文