Title:
ADAPTIVE PI CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/1994/002989
Kind Code:
A1
Abstract:
This invention relates to a method of obtaining an extremely robust adaptive PI control method even when any parameter fluctuation exists in a control object. Estimation values J*, A*, Gr* and Cf* of an inertia, a coefficient of dynamic friction, gravitational disturbance due to a robot angle and Coulomb friction are determined, respectively, using [speed command r - actual speed y] as a state variable Suf, and a torque command tau is determined in the following way so as to make the difference between each estimation value and an actual value zero: tau = K2.Suf + (K1/s).Suf + J*.r\' + A*.y + Gr*.sin + Cf* + tau1. In this equation, the first and second terms on the right side are torque commands obtained by the PI control, r\' is an acceleration of the command, is a robot arm angle, and tau1 is a change-over input so as to cope with other disturbances. Since the difference between each estimation value and the actual value becomes zero, [acceleration command r = actual speed y] can be obtained and adaptative PI control having a transmission function "1" can be obtained.
More Like This:
| JP4191080 | Measuring device |
| JPS62114808 | FLOATING TYPE ROTARY TOOL |
| JP2021056794 | CONTROL PROGRAM, CONTROL DEVICE AND CONTROL METHOD |
Inventors:
KATO TETSUAKI (JP)
YOSHIDA OSAMU (JP)
NAKAMURA MASARU (JP)
ARITA SOICHI (JP)
YOSHIDA OSAMU (JP)
NAKAMURA MASARU (JP)
ARITA SOICHI (JP)
Application Number:
PCT/JP1993/000995
Publication Date:
February 03, 1994
Filing Date:
July 16, 1993
Export Citation:
Assignee:
FANUC LTD (JP)
KATO TETSUAKI (JP)
YOSHIDA OSAMU (JP)
NAKAMURA MASARU (JP)
ARITA SOICHI (JP)
KATO TETSUAKI (JP)
YOSHIDA OSAMU (JP)
NAKAMURA MASARU (JP)
ARITA SOICHI (JP)
International Classes:
B25J9/16; G05B11/36; G05B11/42; G05B13/02; G05B13/04; G05D3/12; (IPC1-7): H02P5/00
Foreign References:
| JPS6447290A | 1989-02-21 | |||
| JPS63154085A | 1988-06-27 | |||
| JPS61132088A | 1986-06-19 | |||
| JPH0230487A | 1990-01-31 | |||
| JPS63287377A | 1988-11-24 | |||
| JPS62233081A | 1987-10-13 |
Other References:
See also references of EP 0604666A4
Download PDF: