モード切替え制御による高速・高精度位置決め制御システム

概要

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This paper presents a novel high-speed and high-precision positioning control of a servo drive system. The controller comprises a two-degrees-of-freedom position control system by using a mode switching control to ensure the fine positioning without overshoot in the position response. In this proposed system, since the position response strongly depends on the initial motor velocity at the mode switching, the optimal initial velocity which realizes the specified positioning accuracy is analytically examined. In addition, a fuzzy inference-based control parameter tuning of feedforward coefficient is proposed to obtain the initial velocity.The proposed control scheme has a distinct feature that the control gain scheduling is not required and the same control performance can be always achieved under arbitrary position command amplitude. Experimental results using a prototype show the effectiveness of the proposed control.
社団法人電気学会の論文