機台振動抑制を考慮したGA によるロバスト高速・高精度位置決め制御系設計

概要

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This paper presents a novel Genetic Algorithm (GA)-based autonomous compensator design and position command shaping considering the stand vibration suppression for the fast-response and high-precision positioning of mechatronic systems. The positioning system is mainly composed of a robust 2-degrees-of-freedom (2DOF) controller based on the coprime factorization description. The feedback compensator based on H∞ design framework in the 2DOF controller ensures the robustness against the variations of resonant vibration mode. The feedforward compensator and position command, on the other hand, can be autonomously designed by the optimization capability of GA, in order to achieve the desired positioning performance and to suppress the machine stand vibration. The effectiveness of the proposed optimal design has been verified by experiments using a table drive system with ball screw.
社団法人電気学会の論文
2004-06-01