Controller for multidegree of freedom nonlinear mechanical system

摘要

A controller (20) for multidegree of freedom nonlinear mechanical system is for applying adaptive model following control to a nonlinear mechanical system (18) with time-varying parameters which has multidegrees of freedom and a driving source for each of the degree of freedom, and is described by a differential equation of q-th degree. The controller (20) is equipped with a model section (22) that has a built-in reference model with desired response characteristics, a first subtracter for obtaining the difference in the internal states between the mechanical system and the reference model, the detectors for detecting signals for the position and its i-th derivative (1≦i≧q) of the mechanical system, an adaptor (30) for determining the time-varying parameters of the mechanical system based on the difference in the internal states between the mechanical system and the reference model, the input that is applied to the control system, the signals for the position and its i-th derivative (1≦i≦q) of the mechanical system, and the nonlinear structure of the mechanical system, a nonlinear force computation section (34), a non-interference section (36) for computing a compensating input for cancelling the nonlinear forces in the mechanical system as well as the interferential forces between the degrees of freedom of the mechanical system, based on the determined parameter signals from the adaptor (30), the signals for the position and its q-th derivative mechanical system, and a second subtractor and a first adder for additively synthesizing the compensating input, for bringing the output of the mechanical system to coincide with the output of the reference model in the course of the time, and the input that is applied to the control system.