SERVO CONTROL SYSTEM USING SLIDING MODE AND ALSO DISTURBANCE ESTIMATION OBSERVER

摘要

PURPOSE:To stably perform control without generating lag even when large fluctuation occurs in the parameter of a nonlinear item by using sliding mode control and also zero-ing control by a disturbance estimation observer simultaneously. CONSTITUTION:The system is equipped with the disturbance estimation observer 50, the item 30 of the parameter to be multiplied by a value corresponding to estimation disturbance estimated by the disturbance estimation observer 50, and a low-pass filter 40. And a sliding mode processing and the processing of the disturbance estimation observer 50 are performed at every prescribed cycle, and the influence of inertia fluctua tion can be compensated by the sliding mode processing, and that of the gravitation item, the static friction item, and the dynamical friction item, etc., of the nonlinear item not being compensated by the sliding mode control can be eliminated by the processing of the disturbance estimation observer 50. Therefore, all the lag due to the performance and the static friction at the beginning of motion of the gravitation item, the lag due to the dynamical friction when an operation is performed, etc., can be eliminated, thereby, a sliding mode can effectively function at every status. Thereby, a stable response can be obtained even when the parameter fluctuates.