低剛性動力伝達要素を含む直流サーボ系およびダイレクトドライブサーボ系の適応制御 : 速度制御および位置制御

抄録

This paper describes the application of a Model Reference Adaptive Control System (MRACS) to the speed control and the position control of a DC servo system and a Direct-Drive (DD) servo system with a flexible transmission element. The servo systems are simply modelled as a servo mechanism with a one degree of freedom oscillatroy load. After inducing the discrete-time mathematical models of the servo systems for the speed and position as a lumped parameter system, the discrete MRACS with a simple algorithm and structure is designed for each discrete model. A set of experiments has been carried out to examine the effectiveness of the MRACS. A rotary encoder was used to measure the speed and the position of loads in the experiments. Experimental results have shown that the control performance is good and the constructed MRACS is effective.