Control device for a non-linear mechanical system with several degrees of freedom.

摘要

PURPOSE:To assure the large area stability in all action areas by building in the norm model having the desirable response characteristic and controlling adaptively the multidegree-of-freedom nonlinear machine system. CONSTITUTION:A nonlinear actual machine system 11 having the multidegree of freedom indicated by (a) step differential equation is provided with a model part 12 to build in the norm model having the desirable response characteristic. An adaptive device 13 operates an adaptive signal from the difference of the internal condition between the system 11 and the model part 12, the input added to the control system, the position of the system 11 and its (a) step differentiated signal, and the nonlinear construction of the system 11. A nonlinear force arithmetic part 20 operates the input to cancel the nonlinear force except the inertia force of the system 11 from the output signal of the adaptive device 13, the position of the system 11 and its differential value and the nonlinear construction of the system 11. An arithmetic part 19 for non- interference calculates the input to cancel the interferential force between the degrees of freedom of the system 11 included in the inertia force, an inertia item gain arithmetic part 22 operates the nonlinear compensating gain of the inertia item and together with the time, the output of the system 11 is made coincident to the output of a model 12.