Adaptive PI control method
US5691615A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 14, 1994 |
| Grant date | Nov 25, 1997 |
| Priority date | — |
| Expiry date | Mar 14, 2014 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42037
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method of obtaining a very robust adaptive PI control method irrespective of fluctuation of parameters of a control object, wherein (speed command r-actual speed y) is used as a state variable Suf. Estimated values J*, A*, Gr*, and C* of inertia, coefficient of dynamic friction, gravitational disturbance depending on a robot angle, and Coulomb's friction, respectively, are obtained and a torque command .tau. is obtained in accordance with the following equation so as to cancel an error between each of the estimated values and its actual value to zero. EQU .tau.=K2.multidot.Suf+(K1/s).multidot.Suf+J*.multidot.r'+A*.multidot.y+Gr*. multidot.sin .theta.+Cf*+.tau.1. The first and second terms of the right side of the above equation are identical with a torque command obtained by the PI control. Furthermore, r' represents an acceleration of command; .theta. represents a rotational angle of a robot arm; and .tau.1 represents a switching input corresponding to miscellaneous disturbance. As an error between each of the estimated values and its actual value becomes zero, a relationship of speed command r=actual speed y is obtained and therefore an adaptive PI control of a transfer functio…
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