CONTROL GAIN SWITCHING SYSTEM USING DISTURBANCE OBSERVER

摘要

PURPOSE: To provide a control gain switching system which can switch a control gain according to the state of a backlash. CONSTITUTION: A disturbance observer 5 estimates an external force applied to a motor and the control gain for controlling the motor is switched according to the estimated value to switch the gain according to the state of the backlash. The disturbance observer 5 inputs a torque command Tcmd and a speed m* and estimates the external force applied to the motor. A controller switching means 6 decides the state of the backlash according to the estimated external force and switches a 1st controller 11 which has a control gain Km and a 2nd controller 12 which has a control gain (k) in a control block 1, and consequently the value of the control gain is switched.