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POSITION AND/OR FORCE CONTROLLER USING SLIDING MODE NONINTERFERENCE CONTROL

机译:使用滑模无干扰控制的位置和/或力控制器

摘要

PROBLEM TO BE SOLVED: To provide a position and force controller using sliding mode noninterference control which has the elasticity of a grinding surface on which a work is brought into contact with a grinding device and an uncertain friction coefficient and performs such robust controls as to cope with change even when unknown changes take place. ;SOLUTION: An interference term that exists in a control system is made noninterference based on a regular condition of a noninterference matrix. A hyerplane σ that is calculated to satisfy Liapunov safety condition is designed and a control amount is converged along the hyperplane σ. In such cases, nonlinear input gain ki (x, t) that is used for the control system is designed to be larger than a prescribed value when uncertainty of a C matrix does not exist until the Liapunov safety condition is satisfied so as to always satisfy the Liapunov safety condition and also to converge a control amount even if uncertainty occurs in the C matrix that connects a state amount x (t) and an output y (t) which are objects to be controlled.;COPYRIGHT: (C)1998,JPO
机译:解决的问题:提供一种使用滑动模式无干扰控制的位置和力控制器,该控制器具有与工件接触的磨削表面的弹性,并且该磨削设备具有不确定的摩擦系数,并且可以执行强大的控制以应对即使发生未知更改,也可以更改。 ;解决方案:基于非干扰矩阵的规则条件,将控制系统中存在的干扰项设为非干扰。设计了计算为满足Liapunov安全条件的水平面σ,并且控制量沿超平面σ收敛。在这种情况下,控制系统中使用的非线性输入增益ki(x,t)设计为在满足Liapunov安全条件之前不存在C矩阵的不确定性时大于规定值,从而始终满足Liapunov安全条件,并且即使在连接状态量x(t)和输出y(t)的C矩阵中发生不确定性时,也收敛控制量。COPYRIGHT:(C)1998,日本特许厅

著录项

  • 公开/公告号JPH10301602A

    专利类型

  • 公开/公告日1998-11-13

    原文格式PDF

  • 申请/专利权人 SEIKO SEIKI CO LTD;

    申请/专利号JP19970124933

  • 申请日1997-04-28

  • 分类号G05B13/00;B24B49/00;G05D3/12;G05D15/01;

  • 国家 JP

  • 入库时间 2022-08-22 02:34:47

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