Position control apparatus for identifying low-frequency disturbance
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United States of America Patent
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Aug 20, 2019
Grant Date -
Feb 26, 2015
app pub date -
Aug 21, 2014
filing date -
Aug 26, 2013
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Abstract
A position control apparatus is provided that can perform accurate nonlinear compensation control immediately after the apparatus is activated. At a time of acceleration, a signal amplification ratio is calculated and designated for each signal vector element based on information related to acceleration/deceleration at a starting time and the structure of a signal vector that is determined for a target plant, and as a result, a signal vector for which the strength of linear independence is increased is generated. Because the strength of the linear independence condition of the signal vector is increased, the speed of convergence of identification for a low-frequency disturbance element, such as a gravitational torque or a sliding-mode load torque, can be increased.
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