JPH0235202U - - Google Patents
Info
- Publication number
- JPH0235202U JPH0235202U JP11334088U JP11334088U JPH0235202U JP H0235202 U JPH0235202 U JP H0235202U JP 11334088 U JP11334088 U JP 11334088U JP 11334088 U JP11334088 U JP 11334088U JP H0235202 U JPH0235202 U JP H0235202U
- Authority
- JP
- Japan
- Prior art keywords
- plant
- parameter
- parameters
- equation
- calculates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Feedback Control In General (AREA)
Description
第１図は本考案の一実施例に係わる非線形補償
器の構成を示すプロツク、第２図は第１図の非線
形補償器の作用を示すフローチヤートである。
１……プラント、３……運動方程式演算器、５
……パラメータ同定器、７……収束度判定部。
FIG. 1 is a block diagram showing the configuration of a nonlinear compensator according to an embodiment of the present invention, and FIG. 2 is a flowchart showing the operation of the nonlinear compensator shown in FIG. 1...Plant, 3...Equation of motion calculator, 5
. . . Parameter identifier, 7 . . . Convergence degree determination unit.
Claims (1)
ラメータおよびプラントの動作状態に基づいてプ
ラントの運動方程式を演算してプラントに対する
トルク指令を出力する非線形補償器であつて、前
記プラントの動作状態および前記トルク指令に基
づいてプラントの機械的パラメータを複数の手法
により算出し同定するパラメータ同定手段と、該
パラメータ同定手段において前記複数の手法で算
出されたパラメータのうち同一のパラメータ同士
を比較し、一致度が低い場合、前記運動方程式の
該パラメータに関する項を定数化するように制御
する制御手段とを有することを特徴とする非線形
補償器。 A nonlinear compensator that calculates the equation of motion of the plant based on input operation command information, mechanical parameters of the plant, and operating state of the plant and outputs a torque command for the plant, the operating state of the plant and the torque A parameter identification means that calculates and identifies mechanical parameters of the plant based on a directive using a plurality of methods; and a parameter identification means that compares the same parameters among the parameters calculated by the plurality of methods and determines the degree of agreement. and control means for controlling a term related to the parameter in the equation of motion to be constant when the parameter is low.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11334088U JPH0235202U (en) | 1988-08-31 | 1988-08-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11334088U JPH0235202U (en) | 1988-08-31 | 1988-08-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0235202U true JPH0235202U (en) | 1990-03-07 |
Family
ID=31353088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11334088U Pending JPH0235202U (en) | 1988-08-31 | 1988-08-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0235202U (en) |
-
1988
- 1988-08-31 JP JP11334088U patent/JPH0235202U/ja active Pending