PURPOSE: To obtain the adaptive PI control system which is extremely robust even if a controlled system has parameter variation.
CONSTITUTION: Estimated values J*, A*, Gr*, and CL* of gravitational disturbance and coulomb friction based upon inertia, a dynamic friction coefficient, and a robot angle are found by using (speed command r-actual speed y) as a state variable Suf, and a torque command τ is found so that an error between each estimated value and an actual value becomes '0'. Namely, τ=K2.Suf+(K1/ s).Suf+J*.r'+A*.y+Gr*.sinθ+CL*+τ1. Here, the 1st and 2nd terms of the right side of said equation are torque commands found by PI control. Then r' is the acceleration of the commands, θ is the robot arm angle, and τ1 is a switching input for corresponding to other disturbance. Speed command r= actual speed y is obtained because errors between the respective estimated values and actual values become '0', and adaptive PI control over a transfer function '1' is obtained.
YOSHIDA OSAMU
NAKAMURA MASARU
ARITA SOUICHI
