抄録
A great deal of efforts have been made in order to overcome the dynamical nonlinearity of servo system. One of the proposed methods is the acceleration control method based on the disturbance observer. However, as the disturbance observer requests the information of motor speed, this control method is often under the influence of the noise of speed sensor in the low motor speed range. In order to overcome these problem, this paper proposes a new DSP-based acceleration controller. This acceleration controller is designed on the basis of both the dual passive adaptive control loop and the direct compensation element G(s). It is called the model following acceleration control system in this paper. The proposed acceleration control system is fixed to the nominal mechanical dynamics in the presence of parameter variations and force disturbance. Hence, both the fast motion control and the accurate force control can be carried out easily. For the purpose of realizing the fast and accurate control, the proposed system is constructed by the software argorithm of DSP (digital signal processor). The experimental examples show that the proposed method is valid for both the fast motion control and the accurate force control.
