Abstract
The applications of the electrical position servo are extending to industrial robot. NC machine tool and computer peripheral unit, etc. In these fields, the requirements for high accuracy and high speed control have been increasing more and more. But the following problems make it difficult to meet these requirements. (1) Load variations (2) Torque disturbance (3) Nonlinear friction. Recently, one of the authors proposed a new design method of robust control system and named it ‘Robust Model Matching’. This method deals with the problem of wide parameter variations of controlled object. When the robust model matching is applied to the electrical servo, it is expected that this method is effective not only for the parameter variations of controlled object but also for the torque disturbance and the nonlinear friction. The present paper proves by simulations and experiments that electrical position servo designed by robust model matching method can overcomes the problems mentioned above.
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