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Development of Servo-Controller to Compensate Friction Disturbances Automatically by Using Adaptive Control Technique

Research Project

Project/Area Number 62850042
Research Category

Grant-in-Aid for Developmental Scientific Research

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionOkayama University

Principal Investigator

INOUE Akira  Okayama University, Faculty of Engineering, Professor, 工学部, 教授 (60026234)

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)
Project Period (FY) 1987 – 1989
Project Status Completed (Fiscal Year 1989)
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)
KeywordsAdaptive 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
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.

Report

(3 results)
  • 1989 Annual Research Report   Final Research Report Summary
  • 1988 Annual Research Report
  • Research Products

    (29 results)

All Other

All Publications (29 results)

  • [Publications] 井上昭・杉本謙二・増田士朗: "周期性未知外乱推定適応オブザ-バの構成" システム制御情報学会論文誌.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 井上昭: "ロボットマニピュレ-タの適応制御" 計測自動制御学会中国支部岡山地区計測制御研究会資料. 1-11 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 井上昭: "適応制御系の安定論" 第20回計測自動制御学会適応制御部会講義会資料. 62-6. 1-15 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 石飛光章,岩田善太,井上昭,大友篤,藤村康弘: "多自由度マニピュレ-タの非干渉適応制御" 第6回計測自動制御学会九州支部学術講演会予稿集. 119-120 (1987)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 井上昭: "ロボットマニピュレ-タのパラメ-タ推定" 日本機械学会中国四国支部計測技術研究会第14回例会資料. 1-6 (1988)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 井上昭: "周期性確定外乱推定オブザ-バの構成" 第32回システムと制御研究発表講演会論文集. 143-144 (1988)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 井上昭: "適応観測器のよる外乱推定" 第33回システムと制御研究発表講演会論文集. 111-112 (1989)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 井上昭・増田士朗・杉本謙二: "2自由度制御形設計手法によるMRACSの構成" 第34回システム制御情報学会研究発表講演会論文集. (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 杉本謙二・池下晴美・井上昭・増田士朗: "離散時間最適レギュレ-タのILQ設計法" 第34回システム制御情報学会研究発表講演会論文集. (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Kenji Sugimoto,Akira Inoue,Siro Masuda: "A Direct Alogirthm for State Deadbeat Control" The 29th IEEE Conference on Decision and Control.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 岩井善太、井上昭、川路茂保: "現代制御シリ-ズ3巻 オブザ-バ" コロナ社, 255 (1988)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Akira Inoue: "Adaptive Control of Robot Manipulator" Preprint of SICE Chugoku Region Meeting, Okayama Session, pp.1-11, 1987.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Akira Inoue: "Stability Theory of Adaptive Control" Preprint of 20th SICE Tutorial Lectures on Adaptive Control, pp.1-15, 1987.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Mitsuaki Ishitobi, Zenta Iwai, Akira Inoue, Atsusi Ohtomo and Yasuhiro Fujimura: "Decoupling Adaptive Control of Manipulator with Multi-Links" Proc. of 8th SICE Kyusyu Region Annual Meeting, pp.119-120, 1987.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Akira Inoue: "Identification of Parameters in Robot Manipulators" Preprint of 14th JSMA Chugoku and Shikoku Regions Measurement Technique Meeting, pp.1-6, 1988.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Akira Inoue: "A Design of Observers Estimating Periodical Deterministic Disturbances" Proc. of 32nd Sys. and Control Annual Conf., pp.143-144, 1988.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Zenta Iwai, Akira Inoue and Shigeyasu Kawaji: "Observers" Vol.3 in Modern Control Series, Corona Co. Tokyo, pp.1-255, 1988.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Akira, Inoue: "An Observer to Estimate Deterministic Unknown Disturbances" Proc. of 33nd Annual Conf. of ISCIE, pp.111-112, 1989.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Akira Inoue, Shiro Masuda and Kenji Sugimoto: "A Design Method of Model Reference Adaptive Control System Using Two-Parameter Compensation Scheme" Proc. of 34nd Annual Conf. of ISCIE, to appear, 1990.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Kenji Sugimoto, Harumi Ikeshita, Akira Inoue and Shiro Masuda: "The ILQ Design Method for Discrete-Time Optimal Regulators" Proc. of 34nd Annual Conf. of ISCIE, to appear, 1990.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Akira Inoue, Kenji Sugimoto and Shiro Masuda: "A Design of an Adaptive Observer to Estimate Periodic Unknown Disturbances" Trans., of the Instit. of Sys., Cont. and Inf. Eng.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] Kenji Sugimoto, Akira Inoue and Shiro Masuda: "A Direct Algorithm for State Deadbeat Control" The 29th IEEE Conf. on Decision and Control, Honolulu, Dec., 1990.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1989 Final Research Report Summary
  • [Publications] 井上昭: "適応観測器による外乱推定" 第33回システムと制御研究発表講演会論文集. 111-112 (1989)

    • Related Report
      1989 Annual Research Report
  • [Publications] 井上昭,増田士朗,杉本謙二: "2自由度制御形設計手法によるMRACSの構成" 第34回システム制御情報学会研究発表講演会論文集. (1990)

    • Related Report
      1989 Annual Research Report
  • [Publications] 杉本謙二,池下晴美,井上昭,増田士朗: "離散時間最適レギュレ-タのILQ設計法" 第34回システム制御情報学会研究発表講演会論文集. (1990)

    • Related Report
      1989 Annual Research Report
  • [Publications] 井上昭: 日本機械学会中国四国支部計測技術研究会第14回例会資料. 1-6 (1988)

    • Related Report
      1988 Annual Research Report
  • [Publications] 井上昭: 第32回システムと制御研究発表講演会論文集. 143-144 (1988)

    • Related Report
      1988 Annual Research Report
  • [Publications] 井上昭: 第33回システムと制御研究発表講演会論文集. (1989)

    • Related Report
      1988 Annual Research Report
  • [Publications] 岩井善太,井上昭,川路茂保: "現代制御シリーズ3巻 オブザーバ" コロナ社, 255 (1988)

    • Related Report
      1988 Annual Research Report

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Published: 1987-04-01   Modified: 2016-04-21  

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