| Project/Area Number |
62850042
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| Research Category |
Grant-in-Aid for Developmental Scientific Research
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | Okayama University |
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Principal Investigator |
INOUE Akira Okayama University, Faculty of Engineering, Professor, 工学部, 教授 (60026234)
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| Co-Investigator(Kenkyū-buntansha) |
MASUDA Shiro Okayama University, Faculty of Engineering, Research Associate, 工学部, 助手 (60219334)
IWAI Zenta Kumamoto University, Faculty of Engineering, Professor, 工学部, 教授 (40026109)
BABA Mitsuru Okayama University, Faculty of Engineering, Research Associate, 工学部, 助手 (80156538)
WASHIO Sei-ichi Okayama University, Faculty of Engineering, Professor, 工学部, 教授 (20026222)
KONISHI Tadataka Okayama University, Faculty of Engineering, Professor, 工学部, 教授 (20025935)
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| Project Period (FY) |
1987 – 1989
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| Project Status |
Completed (Fiscal Year 1989)
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| Budget Amount *help |
¥7,300,000 (Direct Cost: ¥7,300,000)
Fiscal Year 1989: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1988: ¥2,100,000 (Direct Cost: ¥2,100,000)
Fiscal Year 1987: ¥4,500,000 (Direct Cost: ¥4,500,000)
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| Keywords | Adaptive control / Estimation of friction force / Compensation of friction force / Identification / Adaptive observer / Observer to estimate disturbances / 未知外乱推定オブザーバ / 適応観測器 |
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| Research Abstract |
To control servo systems in high performance of speed and accuracy, it is important to compensate unknown friction forces in the systems. In this project, several schemes to estimate and compensate the unknown friction forces are proposed.
1. Since friction disturbances are periodic in rotating or repeatedly moving servo systems, it is necessary to estimate periodic disturbances for compensating the friction forces. An adaptive observer to estimate such disturbances is proposed. The observer includes a simple scheme to calculate the estimate of the disturbances.
2. Two adaptive control schemes to compensate the friction forces are given. The first scheme compensates the forces by using estimated parameters and reduces control errors caused by estimation errors by disturbance decoupling method. In the second method, the unknown friction disturbances are compensated by a scheme of model reference adaptive control systems based on the two-parameter compensation schemes. These schemes are programmed for computer simulations.
3. A sufficient condition for control systems to be stable is given. Applying this condition, it is shown that the systems compensating the friction disturbances are stable.
4. Two experimental servo control systems are developed. These systems have interfaces to connect computers and they can be controlled by the connected computers. The first system is a servo motor connected with a computer. The second is a manipulator with 6 degrees of freedom, whose axes are controlled by computers. Using these systems, experiments to estimate the unknown friction disturbances are conducted.
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